1 | /************************************************************************* |
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2 | * * |
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3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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5 | * * |
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6 | * This library is free software; you can redistribute it and/or * |
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7 | * modify it under the terms of EITHER: * |
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8 | * (1) The GNU Lesser General Public License as published by the Free * |
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9 | * Software Foundation; either version 2.1 of the License, or (at * |
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10 | * your option) any later version. The text of the GNU Lesser * |
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11 | * General Public License is included with this library in the * |
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12 | * file LICENSE.TXT. * |
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13 | * (2) The BSD-style license that is included with this library in * |
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14 | * the file LICENSE-BSD.TXT. * |
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15 | * * |
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16 | * This library is distributed in the hope that it will be useful, * |
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17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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20 | * * |
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21 | *************************************************************************/ |
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22 | |
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23 | /* C++ interface for non-collision stuff */ |
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24 | |
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25 | |
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26 | #ifndef _ODE_ODECPP_H_ |
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27 | #define _ODE_ODECPP_H_ |
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28 | #ifdef __cplusplus |
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29 | |
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30 | #include <ode/error.h> |
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31 | |
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32 | |
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33 | class dWorld { |
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34 | dWorldID _id; |
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35 | |
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36 | // intentionally undefined, don't use these |
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37 | dWorld (const dWorld &); |
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38 | void operator= (const dWorld &); |
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39 | |
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40 | public: |
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41 | dWorld() |
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42 | { _id = dWorldCreate(); } |
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43 | ~dWorld() |
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44 | { dWorldDestroy (_id); } |
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45 | |
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46 | dWorldID id() const |
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47 | { return _id; } |
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48 | operator dWorldID() const |
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49 | { return _id; } |
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50 | |
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51 | void setGravity (dReal x, dReal y, dReal z) |
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52 | { dWorldSetGravity (_id,x,y,z); } |
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53 | void getGravity (dVector3 g) const |
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54 | { dWorldGetGravity (_id,g); } |
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55 | |
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56 | void setERP (dReal erp) |
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57 | { dWorldSetERP(_id, erp); } |
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58 | dReal getERP() const |
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59 | { return dWorldGetERP(_id); } |
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60 | |
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61 | void setCFM (dReal cfm) |
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62 | { dWorldSetCFM(_id, cfm); } |
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63 | dReal getCFM() const |
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64 | { return dWorldGetCFM(_id); } |
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65 | |
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66 | void step (dReal stepsize) |
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67 | { dWorldStep (_id,stepsize); } |
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68 | |
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69 | void stepFast1 (dReal stepsize, int maxiterations) |
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70 | { dWorldStepFast1 (_id,stepsize,maxiterations); } |
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71 | void setAutoEnableDepthSF1(dWorldID, int depth) |
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72 | { dWorldSetAutoEnableDepthSF1 (_id, depth); } |
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73 | int getAutoEnableDepthSF1(dWorldID) |
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74 | { return dWorldGetAutoEnableDepthSF1 (_id); } |
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75 | |
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76 | void setAutoDisableLinearThreshold (dReal threshold) |
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77 | { dWorldSetAutoDisableLinearThreshold (_id,threshold); } |
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78 | dReal getAutoDisableLinearThreshold() |
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79 | { return dWorldGetAutoDisableLinearThreshold (_id); } |
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80 | void setAutoDisableAngularThreshold (dReal threshold) |
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81 | { dWorldSetAutoDisableAngularThreshold (_id,threshold); } |
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82 | dReal getAutoDisableAngularThreshold() |
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83 | { return dWorldGetAutoDisableAngularThreshold (_id); } |
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84 | void setAutoDisableSteps (int steps) |
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85 | { dWorldSetAutoDisableSteps (_id,steps); } |
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86 | int getAutoDisableSteps() |
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87 | { return dWorldGetAutoDisableSteps (_id); } |
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88 | void setAutoDisableTime (dReal time) |
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89 | { dWorldSetAutoDisableTime (_id,time); } |
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90 | dReal getAutoDisableTime() |
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91 | { return dWorldGetAutoDisableTime (_id); } |
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92 | void setAutoDisableFlag (int do_auto_disable) |
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93 | { dWorldSetAutoDisableFlag (_id,do_auto_disable); } |
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94 | int getAutoDisableFlag() |
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95 | { return dWorldGetAutoDisableFlag (_id); } |
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96 | |
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97 | void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz, |
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98 | dVector3 force) |
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99 | { dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); } |
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100 | }; |
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101 | |
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102 | |
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103 | class dBody { |
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104 | dBodyID _id; |
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105 | |
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106 | // intentionally undefined, don't use these |
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107 | dBody (const dBody &); |
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108 | void operator= (const dBody &); |
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109 | |
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110 | public: |
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111 | dBody() |
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112 | { _id = 0; } |
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113 | dBody (dWorldID world) |
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114 | { _id = dBodyCreate (world); } |
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115 | ~dBody() |
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116 | { if (_id) dBodyDestroy (_id); } |
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117 | |
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118 | void create (dWorldID world) { |
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119 | if (_id) dBodyDestroy (_id); |
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120 | _id = dBodyCreate (world); |
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121 | } |
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122 | |
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123 | dBodyID id() const |
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124 | { return _id; } |
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125 | operator dBodyID() const |
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126 | { return _id; } |
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127 | |
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128 | void setData (void *data) |
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129 | { dBodySetData (_id,data); } |
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130 | void *getData() const |
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131 | { return dBodyGetData (_id); } |
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132 | |
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133 | void setPosition (dReal x, dReal y, dReal z) |
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134 | { dBodySetPosition (_id,x,y,z); } |
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135 | void setRotation (const dMatrix3 R) |
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136 | { dBodySetRotation (_id,R); } |
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137 | void setQuaternion (const dQuaternion q) |
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138 | { dBodySetQuaternion (_id,q); } |
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139 | void setLinearVel (dReal x, dReal y, dReal z) |
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140 | { dBodySetLinearVel (_id,x,y,z); } |
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141 | void setAngularVel (dReal x, dReal y, dReal z) |
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142 | { dBodySetAngularVel (_id,x,y,z); } |
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143 | |
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144 | const dReal * getPosition() const |
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145 | { return dBodyGetPosition (_id); } |
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146 | const dReal * getRotation() const |
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147 | { return dBodyGetRotation (_id); } |
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148 | const dReal * getQuaternion() const |
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149 | { return dBodyGetQuaternion (_id); } |
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150 | const dReal * getLinearVel() const |
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151 | { return dBodyGetLinearVel (_id); } |
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152 | const dReal * getAngularVel() const |
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153 | { return dBodyGetAngularVel (_id); } |
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154 | |
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155 | void setMass (const dMass *mass) |
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156 | { dBodySetMass (_id,mass); } |
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157 | void getMass (dMass *mass) const |
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158 | { dBodyGetMass (_id,mass); } |
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159 | |
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160 | void addForce (dReal fx, dReal fy, dReal fz) |
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161 | { dBodyAddForce (_id, fx, fy, fz); } |
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162 | void addTorque (dReal fx, dReal fy, dReal fz) |
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163 | { dBodyAddTorque (_id, fx, fy, fz); } |
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164 | void addRelForce (dReal fx, dReal fy, dReal fz) |
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165 | { dBodyAddRelForce (_id, fx, fy, fz); } |
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166 | void addRelTorque (dReal fx, dReal fy, dReal fz) |
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167 | { dBodyAddRelTorque (_id, fx, fy, fz); } |
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168 | void addForceAtPos (dReal fx, dReal fy, dReal fz, |
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169 | dReal px, dReal py, dReal pz) |
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170 | { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); } |
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171 | void addForceAtRelPos (dReal fx, dReal fy, dReal fz, |
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172 | dReal px, dReal py, dReal pz) |
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173 | { dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); } |
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174 | void addRelForceAtPos (dReal fx, dReal fy, dReal fz, |
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175 | dReal px, dReal py, dReal pz) |
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176 | { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); } |
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177 | void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz, |
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178 | dReal px, dReal py, dReal pz) |
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179 | { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); } |
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180 | |
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181 | const dReal * getForce() const |
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182 | { return dBodyGetForce(_id); } |
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183 | const dReal * getTorque() const |
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184 | { return dBodyGetTorque(_id); } |
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185 | void setForce (dReal x, dReal y, dReal z) |
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186 | { dBodySetForce (_id,x,y,z); } |
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187 | void setTorque (dReal x, dReal y, dReal z) |
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188 | { dBodySetTorque (_id,x,y,z); } |
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189 | |
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190 | void enable() |
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191 | { dBodyEnable (_id); } |
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192 | void disable() |
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193 | { dBodyDisable (_id); } |
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194 | int isEnabled() const |
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195 | { return dBodyIsEnabled (_id); } |
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196 | |
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197 | void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const |
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198 | { dBodyGetRelPointPos (_id, px, py, pz, result); } |
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199 | void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const |
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200 | { dBodyGetRelPointVel (_id, px, py, pz, result); } |
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201 | void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const |
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202 | { dBodyGetPointVel (_id,px,py,pz,result); } |
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203 | void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const |
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204 | { dBodyGetPosRelPoint (_id,px,py,pz,result); } |
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205 | void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const |
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206 | { dBodyVectorToWorld (_id,px,py,pz,result); } |
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207 | void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const |
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208 | { dBodyVectorFromWorld (_id,px,py,pz,result); } |
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209 | |
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210 | void setFiniteRotationMode (int mode) |
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211 | { dBodySetFiniteRotationMode (_id, mode); } |
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212 | void setFiniteRotationAxis (dReal x, dReal y, dReal z) |
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213 | { dBodySetFiniteRotationAxis (_id, x, y, z); } |
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214 | |
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215 | int getFiniteRotationMode() const |
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216 | { return dBodyGetFiniteRotationMode (_id); } |
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217 | void getFiniteRotationAxis (dVector3 result) const |
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218 | { dBodyGetFiniteRotationAxis (_id, result); } |
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219 | |
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220 | int getNumJoints() const |
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221 | { return dBodyGetNumJoints (_id); } |
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222 | dJointID getJoint (int index) const |
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223 | { return dBodyGetJoint (_id, index); } |
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224 | |
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225 | void setGravityMode (int mode) |
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226 | { dBodySetGravityMode (_id,mode); } |
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227 | int getGravityMode() const |
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228 | { return dBodyGetGravityMode (_id); } |
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229 | |
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230 | int isConnectedTo (dBodyID body) const |
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231 | { return dAreConnected (_id, body); } |
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232 | |
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233 | void setAutoDisableLinearThreshold (dReal threshold) |
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234 | { dBodySetAutoDisableLinearThreshold (_id,threshold); } |
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235 | dReal getAutoDisableLinearThreshold() |
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236 | { return dBodyGetAutoDisableLinearThreshold (_id); } |
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237 | void setAutoDisableAngularThreshold (dReal threshold) |
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238 | { dBodySetAutoDisableAngularThreshold (_id,threshold); } |
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239 | dReal getAutoDisableAngularThreshold() |
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240 | { return dBodyGetAutoDisableAngularThreshold (_id); } |
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241 | void setAutoDisableSteps (int steps) |
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242 | { dBodySetAutoDisableSteps (_id,steps); } |
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243 | int getAutoDisableSteps() |
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244 | { return dBodyGetAutoDisableSteps (_id); } |
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245 | void setAutoDisableTime (dReal time) |
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246 | { dBodySetAutoDisableTime (_id,time); } |
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247 | dReal getAutoDisableTime() |
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248 | { return dBodyGetAutoDisableTime (_id); } |
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249 | void setAutoDisableFlag (int do_auto_disable) |
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250 | { dBodySetAutoDisableFlag (_id,do_auto_disable); } |
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251 | int getAutoDisableFlag() |
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252 | { return dBodyGetAutoDisableFlag (_id); } |
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253 | }; |
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254 | |
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255 | |
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256 | class dJointGroup { |
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257 | dJointGroupID _id; |
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258 | |
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259 | // intentionally undefined, don't use these |
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260 | dJointGroup (const dJointGroup &); |
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261 | void operator= (const dJointGroup &); |
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262 | |
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263 | public: |
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264 | dJointGroup (int dummy_arg=0) |
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265 | { _id = dJointGroupCreate (0); } |
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266 | ~dJointGroup() |
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267 | { dJointGroupDestroy (_id); } |
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268 | void create (int dummy_arg=0) { |
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269 | if (_id) dJointGroupDestroy (_id); |
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270 | _id = dJointGroupCreate (0); |
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271 | } |
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272 | |
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273 | dJointGroupID id() const |
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274 | { return _id; } |
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275 | operator dJointGroupID() const |
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276 | { return _id; } |
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277 | |
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278 | void empty() |
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279 | { dJointGroupEmpty (_id); } |
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280 | }; |
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281 | |
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282 | |
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283 | class dJoint { |
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284 | private: |
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285 | // intentionally undefined, don't use these |
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286 | dJoint (const dJoint &) ; |
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287 | void operator= (const dJoint &); |
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288 | |
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289 | protected: |
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290 | dJointID _id; |
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291 | |
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292 | public: |
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293 | dJoint() |
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294 | { _id = 0; } |
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295 | ~dJoint() |
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296 | { if (_id) dJointDestroy (_id); } |
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297 | |
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298 | dJointID id() const |
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299 | { return _id; } |
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300 | operator dJointID() const |
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301 | { return _id; } |
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302 | |
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303 | void attach (dBodyID body1, dBodyID body2) |
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304 | { dJointAttach (_id, body1, body2); } |
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305 | |
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306 | void setData (void *data) |
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307 | { dJointSetData (_id, data); } |
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308 | void *getData() const |
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309 | { return dJointGetData (_id); } |
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310 | |
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311 | int getType() const |
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312 | { return dJointGetType (_id); } |
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313 | |
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314 | dBodyID getBody (int index) const |
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315 | { return dJointGetBody (_id, index); } |
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316 | |
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317 | void setFeedback(dJointFeedback *fb) |
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318 | { dJointSetFeedback(_id, fb); } |
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319 | dJointFeedback *getFeedback() const |
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320 | { return dJointGetFeedback(_id); } |
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321 | }; |
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322 | |
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323 | |
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324 | class dBallJoint : public dJoint { |
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325 | private: |
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326 | // intentionally undefined, don't use these |
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327 | dBallJoint (const dBallJoint &); |
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328 | void operator= (const dBallJoint &); |
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329 | |
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330 | public: |
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331 | dBallJoint() { } |
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332 | dBallJoint (dWorldID world, dJointGroupID group=0) |
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333 | { _id = dJointCreateBall (world, group); } |
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334 | |
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335 | void create (dWorldID world, dJointGroupID group=0) { |
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336 | if (_id) dJointDestroy (_id); |
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337 | _id = dJointCreateBall (world, group); |
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338 | } |
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339 | |
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340 | void setAnchor (dReal x, dReal y, dReal z) |
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341 | { dJointSetBallAnchor (_id, x, y, z); } |
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342 | void getAnchor (dVector3 result) const |
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343 | { dJointGetBallAnchor (_id, result); } |
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344 | void getAnchor2 (dVector3 result) const |
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345 | { dJointGetBallAnchor2 (_id, result); } |
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346 | void setParam (int parameter, dReal value) |
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347 | { dJointSetBallParam (_id, parameter, value); } |
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348 | dReal getParam (int parameter) const |
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349 | { return dJointGetBallParam (_id, parameter); } |
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350 | } ; |
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351 | |
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352 | |
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353 | class dHingeJoint : public dJoint { |
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354 | // intentionally undefined, don't use these |
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355 | dHingeJoint (const dHingeJoint &); |
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356 | void operator = (const dHingeJoint &); |
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357 | |
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358 | public: |
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359 | dHingeJoint() { } |
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360 | dHingeJoint (dWorldID world, dJointGroupID group=0) |
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361 | { _id = dJointCreateHinge (world, group); } |
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362 | |
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363 | void create (dWorldID world, dJointGroupID group=0) { |
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364 | if (_id) dJointDestroy (_id); |
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365 | _id = dJointCreateHinge (world, group); |
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366 | } |
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367 | |
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368 | void setAnchor (dReal x, dReal y, dReal z) |
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369 | { dJointSetHingeAnchor (_id, x, y, z); } |
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370 | void getAnchor (dVector3 result) const |
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371 | { dJointGetHingeAnchor (_id, result); } |
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372 | void getAnchor2 (dVector3 result) const |
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373 | { dJointGetHingeAnchor2 (_id, result); } |
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374 | |
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375 | void setAxis (dReal x, dReal y, dReal z) |
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376 | { dJointSetHingeAxis (_id, x, y, z); } |
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377 | void getAxis (dVector3 result) const |
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378 | { dJointGetHingeAxis (_id, result); } |
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379 | |
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380 | dReal getAngle() const |
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381 | { return dJointGetHingeAngle (_id); } |
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382 | dReal getAngleRate() const |
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383 | { return dJointGetHingeAngleRate (_id); } |
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384 | |
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385 | void setParam (int parameter, dReal value) |
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386 | { dJointSetHingeParam (_id, parameter, value); } |
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387 | dReal getParam (int parameter) const |
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388 | { return dJointGetHingeParam (_id, parameter); } |
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389 | |
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390 | void addTorque (dReal torque) |
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391 | { dJointAddHingeTorque(_id, torque); } |
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392 | }; |
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393 | |
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394 | |
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395 | class dSliderJoint : public dJoint { |
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396 | // intentionally undefined, don't use these |
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397 | dSliderJoint (const dSliderJoint &); |
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398 | void operator = (const dSliderJoint &); |
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399 | |
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400 | public: |
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401 | dSliderJoint() { } |
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402 | dSliderJoint (dWorldID world, dJointGroupID group=0) |
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403 | { _id = dJointCreateSlider (world, group); } |
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404 | |
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405 | void create (dWorldID world, dJointGroupID group=0) { |
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406 | if (_id) dJointDestroy (_id); |
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407 | _id = dJointCreateSlider (world, group); |
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408 | } |
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409 | |
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410 | void setAxis (dReal x, dReal y, dReal z) |
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411 | { dJointSetSliderAxis (_id, x, y, z); } |
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412 | void getAxis (dVector3 result) const |
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413 | { dJointGetSliderAxis (_id, result); } |
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414 | |
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415 | dReal getPosition() const |
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416 | { return dJointGetSliderPosition (_id); } |
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417 | dReal getPositionRate() const |
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418 | { return dJointGetSliderPositionRate (_id); } |
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419 | |
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420 | void setParam (int parameter, dReal value) |
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421 | { dJointSetSliderParam (_id, parameter, value); } |
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422 | dReal getParam (int parameter) const |
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423 | { return dJointGetSliderParam (_id, parameter); } |
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424 | |
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425 | void addForce (dReal force) |
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426 | { dJointAddSliderForce(_id, force); } |
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427 | }; |
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428 | |
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429 | |
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430 | class dUniversalJoint : public dJoint { |
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431 | // intentionally undefined, don't use these |
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432 | dUniversalJoint (const dUniversalJoint &); |
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433 | void operator = (const dUniversalJoint &); |
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434 | |
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435 | public: |
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436 | dUniversalJoint() { } |
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437 | dUniversalJoint (dWorldID world, dJointGroupID group=0) |
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438 | { _id = dJointCreateUniversal (world, group); } |
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439 | |
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440 | void create (dWorldID world, dJointGroupID group=0) { |
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441 | if (_id) dJointDestroy (_id); |
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442 | _id = dJointCreateUniversal (world, group); |
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443 | } |
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444 | |
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445 | void setAnchor (dReal x, dReal y, dReal z) |
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446 | { dJointSetUniversalAnchor (_id, x, y, z); } |
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447 | void setAxis1 (dReal x, dReal y, dReal z) |
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448 | { dJointSetUniversalAxis1 (_id, x, y, z); } |
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449 | void setAxis2 (dReal x, dReal y, dReal z) |
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450 | { dJointSetUniversalAxis2 (_id, x, y, z); } |
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451 | void setParam (int parameter, dReal value) |
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452 | { dJointSetUniversalParam (_id, parameter, value); } |
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453 | |
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454 | void getAnchor (dVector3 result) const |
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455 | { dJointGetUniversalAnchor (_id, result); } |
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456 | void getAnchor2 (dVector3 result) const |
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457 | { dJointGetUniversalAnchor2 (_id, result); } |
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458 | void getAxis1 (dVector3 result) const |
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459 | { dJointGetUniversalAxis1 (_id, result); } |
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460 | void getAxis2 (dVector3 result) const |
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461 | { dJointGetUniversalAxis2 (_id, result); } |
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462 | dReal getParam (int parameter) const |
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463 | { return dJointGetUniversalParam (_id, parameter); } |
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464 | void getAngles(dReal *angle1, dReal *angle2) const |
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465 | { dJointGetUniversalAngles (_id, angle1, angle2); } |
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466 | |
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467 | dReal getAngle1() const |
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468 | { return dJointGetUniversalAngle1 (_id); } |
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469 | dReal getAngle1Rate() const |
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470 | { return dJointGetUniversalAngle1Rate (_id); } |
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471 | dReal getAngle2() const |
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472 | { return dJointGetUniversalAngle2 (_id); } |
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473 | dReal getAngle2Rate() const |
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474 | { return dJointGetUniversalAngle2Rate (_id); } |
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475 | |
---|
476 | void addTorques (dReal torque1, dReal torque2) |
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477 | { dJointAddUniversalTorques(_id, torque1, torque2); } |
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478 | }; |
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479 | |
---|
480 | |
---|
481 | class dHinge2Joint : public dJoint { |
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482 | // intentionally undefined, don't use these |
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483 | dHinge2Joint (const dHinge2Joint &); |
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484 | void operator = (const dHinge2Joint &); |
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485 | |
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486 | public: |
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487 | dHinge2Joint() { } |
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488 | dHinge2Joint (dWorldID world, dJointGroupID group=0) |
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489 | { _id = dJointCreateHinge2 (world, group); } |
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490 | |
---|
491 | void create (dWorldID world, dJointGroupID group=0) { |
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492 | if (_id) dJointDestroy (_id); |
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493 | _id = dJointCreateHinge2 (world, group); |
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494 | } |
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495 | |
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496 | void setAnchor (dReal x, dReal y, dReal z) |
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497 | { dJointSetHinge2Anchor (_id, x, y, z); } |
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498 | void setAxis1 (dReal x, dReal y, dReal z) |
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499 | { dJointSetHinge2Axis1 (_id, x, y, z); } |
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500 | void setAxis2 (dReal x, dReal y, dReal z) |
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501 | { dJointSetHinge2Axis2 (_id, x, y, z); } |
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502 | |
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503 | void getAnchor (dVector3 result) const |
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504 | { dJointGetHinge2Anchor (_id, result); } |
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505 | void getAnchor2 (dVector3 result) const |
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506 | { dJointGetHinge2Anchor2 (_id, result); } |
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507 | void getAxis1 (dVector3 result) const |
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508 | { dJointGetHinge2Axis1 (_id, result); } |
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509 | void getAxis2 (dVector3 result) const |
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510 | { dJointGetHinge2Axis2 (_id, result); } |
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511 | |
---|
512 | dReal getAngle1() const |
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513 | { return dJointGetHinge2Angle1 (_id); } |
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514 | dReal getAngle1Rate() const |
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515 | { return dJointGetHinge2Angle1Rate (_id); } |
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516 | dReal getAngle2Rate() const |
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517 | { return dJointGetHinge2Angle2Rate (_id); } |
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518 | |
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519 | void setParam (int parameter, dReal value) |
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520 | { dJointSetHinge2Param (_id, parameter, value); } |
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521 | dReal getParam (int parameter) const |
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522 | { return dJointGetHinge2Param (_id, parameter); } |
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523 | |
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524 | void addTorques(dReal torque1, dReal torque2) |
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525 | { dJointAddHinge2Torques(_id, torque1, torque2); } |
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526 | }; |
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527 | |
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528 | |
---|
529 | class dPRJoint : public dJoint { |
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530 | dPRJoint (const dPRJoint &); |
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531 | void operator = (const dPRJoint &); |
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532 | |
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533 | public: |
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534 | dPRJoint() { } |
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535 | dPRJoint (dWorldID world, dJointGroupID group=0) |
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536 | { _id = dJointCreatePR (world, group); } |
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537 | |
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538 | void create (dWorldID world, dJointGroupID group=0) { |
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539 | if (_id) dJointDestroy (_id); |
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540 | _id = dJointCreatePR (world, group); |
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541 | } |
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542 | |
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543 | void setAnchor (dReal x, dReal y, dReal z) |
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544 | { dJointSetPRAnchor (_id, x, y, z); } |
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545 | void setAxis1 (dReal x, dReal y, dReal z) |
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546 | { dJointSetPRAxis1 (_id, x, y, z); } |
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547 | void setAxis2 (dReal x, dReal y, dReal z) |
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548 | { dJointSetPRAxis2 (_id, x, y, z); } |
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549 | |
---|
550 | void getAnchor (dVector3 result) const |
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551 | { dJointGetPRAnchor (_id, result); } |
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552 | void getAxis1 (dVector3 result) const |
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553 | { dJointGetPRAxis1 (_id, result); } |
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554 | void getAxis2 (dVector3 result) const |
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555 | { dJointGetPRAxis2 (_id, result); } |
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556 | |
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557 | dReal getPosition() const |
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558 | { return dJointGetPRPosition (_id); } |
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559 | dReal getPositionRate() const |
---|
560 | { return dJointGetPRPositionRate (_id); } |
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561 | |
---|
562 | void setParam (int parameter, dReal value) |
---|
563 | { dJointSetPRParam (_id, parameter, value); } |
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564 | dReal getParam (int parameter) const |
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565 | { return dJointGetPRParam (_id, parameter); } |
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566 | }; |
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567 | |
---|
568 | |
---|
569 | class dFixedJoint : public dJoint { |
---|
570 | // intentionally undefined, don't use these |
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571 | dFixedJoint (const dFixedJoint &); |
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572 | void operator = (const dFixedJoint &); |
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573 | |
---|
574 | public: |
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575 | dFixedJoint() { } |
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576 | dFixedJoint (dWorldID world, dJointGroupID group=0) |
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577 | { _id = dJointCreateFixed (world, group); } |
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578 | |
---|
579 | void create (dWorldID world, dJointGroupID group=0) { |
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580 | if (_id) dJointDestroy (_id); |
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581 | _id = dJointCreateFixed (world, group); |
---|
582 | } |
---|
583 | |
---|
584 | void set() |
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585 | { dJointSetFixed (_id); } |
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586 | |
---|
587 | void setParam (int parameter, dReal value) |
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588 | { dJointSetFixedParam (_id, parameter, value); } |
---|
589 | |
---|
590 | dReal getParam (int parameter) const |
---|
591 | { return dJointGetFixedParam (_id, parameter); } |
---|
592 | }; |
---|
593 | |
---|
594 | |
---|
595 | class dContactJoint : public dJoint { |
---|
596 | // intentionally undefined, don't use these |
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597 | dContactJoint (const dContactJoint &); |
---|
598 | void operator = (const dContactJoint &); |
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599 | |
---|
600 | public: |
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601 | dContactJoint() { } |
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602 | dContactJoint (dWorldID world, dJointGroupID group, dContact *contact) |
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603 | { _id = dJointCreateContact (world, group, contact); } |
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604 | |
---|
605 | void create (dWorldID world, dJointGroupID group, dContact *contact) { |
---|
606 | if (_id) dJointDestroy (_id); |
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607 | _id = dJointCreateContact (world, group, contact); |
---|
608 | } |
---|
609 | }; |
---|
610 | |
---|
611 | |
---|
612 | class dNullJoint : public dJoint { |
---|
613 | // intentionally undefined, don't use these |
---|
614 | dNullJoint (const dNullJoint &); |
---|
615 | void operator = (const dNullJoint &); |
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616 | |
---|
617 | public: |
---|
618 | dNullJoint() { } |
---|
619 | dNullJoint (dWorldID world, dJointGroupID group=0) |
---|
620 | { _id = dJointCreateNull (world, group); } |
---|
621 | |
---|
622 | void create (dWorldID world, dJointGroupID group=0) { |
---|
623 | if (_id) dJointDestroy (_id); |
---|
624 | _id = dJointCreateNull (world, group); |
---|
625 | } |
---|
626 | }; |
---|
627 | |
---|
628 | |
---|
629 | class dAMotorJoint : public dJoint { |
---|
630 | // intentionally undefined, don't use these |
---|
631 | dAMotorJoint (const dAMotorJoint &); |
---|
632 | void operator = (const dAMotorJoint &); |
---|
633 | |
---|
634 | public: |
---|
635 | dAMotorJoint() { } |
---|
636 | dAMotorJoint (dWorldID world, dJointGroupID group=0) |
---|
637 | { _id = dJointCreateAMotor (world, group); } |
---|
638 | |
---|
639 | void create (dWorldID world, dJointGroupID group=0) { |
---|
640 | if (_id) dJointDestroy (_id); |
---|
641 | _id = dJointCreateAMotor (world, group); |
---|
642 | } |
---|
643 | |
---|
644 | void setMode (int mode) |
---|
645 | { dJointSetAMotorMode (_id, mode); } |
---|
646 | int getMode() const |
---|
647 | { return dJointGetAMotorMode (_id); } |
---|
648 | |
---|
649 | void setNumAxes (int num) |
---|
650 | { dJointSetAMotorNumAxes (_id, num); } |
---|
651 | int getNumAxes() const |
---|
652 | { return dJointGetAMotorNumAxes (_id); } |
---|
653 | |
---|
654 | void setAxis (int anum, int rel, dReal x, dReal y, dReal z) |
---|
655 | { dJointSetAMotorAxis (_id, anum, rel, x, y, z); } |
---|
656 | void getAxis (int anum, dVector3 result) const |
---|
657 | { dJointGetAMotorAxis (_id, anum, result); } |
---|
658 | int getAxisRel (int anum) const |
---|
659 | { return dJointGetAMotorAxisRel (_id, anum); } |
---|
660 | |
---|
661 | void setAngle (int anum, dReal angle) |
---|
662 | { dJointSetAMotorAngle (_id, anum, angle); } |
---|
663 | dReal getAngle (int anum) const |
---|
664 | { return dJointGetAMotorAngle (_id, anum); } |
---|
665 | dReal getAngleRate (int anum) |
---|
666 | { return dJointGetAMotorAngleRate (_id,anum); } |
---|
667 | |
---|
668 | void setParam (int parameter, dReal value) |
---|
669 | { dJointSetAMotorParam (_id, parameter, value); } |
---|
670 | dReal getParam (int parameter) const |
---|
671 | { return dJointGetAMotorParam (_id, parameter); } |
---|
672 | |
---|
673 | void addTorques(dReal torque1, dReal torque2, dReal torque3) |
---|
674 | { dJointAddAMotorTorques(_id, torque1, torque2, torque3); } |
---|
675 | }; |
---|
676 | |
---|
677 | |
---|
678 | class dLMotorJoint : public dJoint { |
---|
679 | // intentionally undefined, don't use these |
---|
680 | dLMotorJoint (const dLMotorJoint &); |
---|
681 | void operator = (const dLMotorJoint &); |
---|
682 | |
---|
683 | public: |
---|
684 | dLMotorJoint() { } |
---|
685 | dLMotorJoint (dWorldID world, dJointGroupID group=0) |
---|
686 | { _id = dJointCreateLMotor (world, group); } |
---|
687 | |
---|
688 | void create (dWorldID world, dJointGroupID group=0) { |
---|
689 | if (_id) dJointDestroy (_id); |
---|
690 | _id = dJointCreateLMotor (world, group); |
---|
691 | } |
---|
692 | |
---|
693 | void setNumAxes (int num) |
---|
694 | { dJointSetLMotorNumAxes (_id, num); } |
---|
695 | int getNumAxes() const |
---|
696 | { return dJointGetLMotorNumAxes (_id); } |
---|
697 | |
---|
698 | void setAxis (int anum, int rel, dReal x, dReal y, dReal z) |
---|
699 | { dJointSetLMotorAxis (_id, anum, rel, x, y, z); } |
---|
700 | void getAxis (int anum, dVector3 result) const |
---|
701 | { dJointGetLMotorAxis (_id, anum, result); } |
---|
702 | |
---|
703 | void setParam (int parameter, dReal value) |
---|
704 | { dJointSetLMotorParam (_id, parameter, value); } |
---|
705 | dReal getParam (int parameter) const |
---|
706 | { return dJointGetLMotorParam (_id, parameter); } |
---|
707 | }; |
---|
708 | |
---|
709 | |
---|
710 | |
---|
711 | #endif |
---|
712 | #endif |
---|