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16<h1>odecpp.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************</span>
17<a name="l00002"></a>00002 <span class="comment"> *                          *</span>
18<a name="l00003"></a>00003 <span class="comment"> * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.    *</span>
19<a name="l00004"></a>00004 <span class="comment"> * All rights reserved.  Email: russ@q12.org   Web: www.q12.org    *</span>
20<a name="l00005"></a>00005 <span class="comment"> *                          *</span>
21<a name="l00006"></a>00006 <span class="comment"> * This library is free software; you can redistribute it and/or   *</span>
22<a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of EITHER:             *</span>
23<a name="l00008"></a>00008 <span class="comment"> *   (1) The GNU Lesser General Public License as published by the Free  *</span>
24<a name="l00009"></a>00009 <span class="comment"> *  Software Foundation; either version 2.1 of the License, or (at  *</span>
25<a name="l00010"></a>00010 <span class="comment"> *  your option) any later version. The text of the GNU Lesser  *</span>
26<a name="l00011"></a>00011 <span class="comment"> *  General Public License is included with this library in the    *</span>
27<a name="l00012"></a>00012 <span class="comment"> *  file LICENSE.TXT.                   *</span>
28<a name="l00013"></a>00013 <span class="comment"> *   (2) The BSD-style license that is included with this library in  *</span>
29<a name="l00014"></a>00014 <span class="comment"> *  the file LICENSE-BSD.TXT.              *</span>
30<a name="l00015"></a>00015 <span class="comment"> *                          *</span>
31<a name="l00016"></a>00016 <span class="comment"> * This library is distributed in the hope that it will be useful,    *</span>
32<a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of  *</span>
33<a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *</span>
34<a name="l00019"></a>00019 <span class="comment"> * LICENSE.TXT and LICENSE-BSD.TXT for more details.         *</span>
35<a name="l00020"></a>00020 <span class="comment"> *                          *</span>
36<a name="l00021"></a>00021 <span class="comment"> *************************************************************************/</span>
37<a name="l00022"></a>00022
38<a name="l00023"></a>00023 <span class="comment">/* C++ interface for non-collision stuff */</span>
39<a name="l00024"></a>00024
40<a name="l00025"></a>00025
41<a name="l00026"></a>00026 <span class="preprocessor">#ifndef _ODE_ODECPP_H_</span>
42<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="preprocessor">#define _ODE_ODECPP_H_</span>
43<a name="l00028"></a>00028 <span class="preprocessor"></span><span class="preprocessor">#ifdef __cplusplus</span>
44<a name="l00029"></a>00029 <span class="preprocessor"></span>
45<a name="l00030"></a>00030 <span class="preprocessor">#include &lt;ode/error.h&gt;</span>
46<a name="l00031"></a>00031
47<a name="l00032"></a>00032
48<a name="l00033"></a>00033 <span class="keyword">class </span>dWorld {
49<a name="l00034"></a>00034   dWorldID _id;
50<a name="l00035"></a>00035
51<a name="l00036"></a>00036   <span class="comment">// intentionally undefined, don't use these</span>
52<a name="l00037"></a>00037   dWorld (<span class="keyword">const</span> dWorld &amp;);
53<a name="l00038"></a>00038   <span class="keywordtype">void</span> operator= (<span class="keyword">const</span> dWorld &amp;);
54<a name="l00039"></a>00039
55<a name="l00040"></a>00040 <span class="keyword">public</span>:
56<a name="l00041"></a>00041   dWorld()
57<a name="l00042"></a>00042     { _id = <a class="code" href="group__world.html#g929067266d630fb745f752042d685fc7" title="Create a new, empty world and return its ID number.">dWorldCreate</a>(); }
58<a name="l00043"></a>00043   ~dWorld()
59<a name="l00044"></a>00044     { <a class="code" href="group__world.html#g5a2e5b1d2d6a1376dca239b488e629f9" title="Destroy a world and everything in it.">dWorldDestroy</a> (_id); }
60<a name="l00045"></a>00045
61<a name="l00046"></a>00046   dWorldID id()<span class="keyword"> const</span>
62<a name="l00047"></a>00047 <span class="keyword">    </span>{ <span class="keywordflow">return</span> _id; }
63<a name="l00048"></a>00048   operator dWorldID()<span class="keyword"> const</span>
64<a name="l00049"></a>00049 <span class="keyword">    </span>{ <span class="keywordflow">return</span> _id; }
65<a name="l00050"></a>00050
66<a name="l00051"></a>00051   <span class="keywordtype">void</span> setGravity (dReal x, dReal y, dReal z)
67<a name="l00052"></a>00052     { <a class="code" href="group__world.html#ga1b220b922215b335572c699cf8f8cad" title="Set the world&amp;#39;s global gravity vector.">dWorldSetGravity</a> (_id,x,y,z); }
68<a name="l00053"></a>00053   <span class="keywordtype">void</span> getGravity (dVector3 g)<span class="keyword"> const</span>
69<a name="l00054"></a>00054 <span class="keyword">    </span>{ <a class="code" href="group__world.html#ge1a29b6a91cc1910a982c916ae4dee4a" title="Get the gravity vector for a given world.">dWorldGetGravity</a> (_id,g); }
70<a name="l00055"></a>00055
71<a name="l00056"></a>00056   <span class="keywordtype">void</span> setERP (dReal erp)
72<a name="l00057"></a>00057     { <a class="code" href="group__world.html#gacd0778bdaa939d22f093fc2d5d5f868" title="Set the global ERP value, that controls how much error correction is performed in...">dWorldSetERP</a>(_id, erp); }
73<a name="l00058"></a>00058   dReal getERP()<span class="keyword"> const</span>
74<a name="l00059"></a>00059 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__world.html#g033cd87a0b22889a94d4d84149bda5a0" title="Get the error reduction parameter.">dWorldGetERP</a>(_id); }
75<a name="l00060"></a>00060
76<a name="l00061"></a>00061   <span class="keywordtype">void</span> setCFM (dReal cfm)
77<a name="l00062"></a>00062     { <a class="code" href="group__world.html#g8b7913fe46d0afc468418c655da79233" title="Set the global CFM (constraint force mixing) value.">dWorldSetCFM</a>(_id, cfm); }
78<a name="l00063"></a>00063   dReal getCFM()<span class="keyword"> const</span>
79<a name="l00064"></a>00064 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__world.html#gc7a431f2b3fc6f887fe91ad676828ba3" title="Get the constraint force mixing value.">dWorldGetCFM</a>(_id); }
80<a name="l00065"></a>00065
81<a name="l00066"></a>00066   <span class="keywordtype">void</span> step (dReal stepsize)
82<a name="l00067"></a>00067     { <a class="code" href="group__world.html#g8f547ebeb3deed27e0f7b8143d475f50" title="Step the world.">dWorldStep</a> (_id,stepsize); }
83<a name="l00068"></a>00068
84<a name="l00069"></a>00069   <span class="keywordtype">void</span> stepFast1 (dReal stepsize, <span class="keywordtype">int</span> maxiterations)
85<a name="l00070"></a>00070     { <a class="code" href="group__world.html#gefa68c714bb3c8f70503f101ea062c03" title="Step the world using the StepFast1 algorithm.">dWorldStepFast1</a> (_id,stepsize,maxiterations); }
86<a name="l00071"></a>00071   <span class="keywordtype">void</span> setAutoEnableDepthSF1(dWorldID, <span class="keywordtype">int</span> depth)
87<a name="l00072"></a>00072     { <a class="code" href="group__disable.html#g280c6deffe6b4b8ba39d60bf25355347" title="Set the AutoEnableDepth parameter used by the StepFast1 algorithm.">dWorldSetAutoEnableDepthSF1</a> (_id, depth); }
88<a name="l00073"></a>00073   <span class="keywordtype">int</span> getAutoEnableDepthSF1(dWorldID)
89<a name="l00074"></a>00074     { <span class="keywordflow">return</span> <a class="code" href="group__disable.html#g5438f43d9c71d8090a44171f685de196" title="Get the AutoEnableDepth parameter used by the StepFast1 algorithm.">dWorldGetAutoEnableDepthSF1</a> (_id); }
90<a name="l00075"></a>00075
91<a name="l00076"></a>00076   <span class="keywordtype">void</span>  setAutoDisableLinearThreshold (dReal threshold)
92<a name="l00077"></a>00077     { <a class="code" href="group__disable.html#ga1070c6f127352fb0a87ab1d42677b8e" title="Set auto disable linear threshold for newly created bodies.">dWorldSetAutoDisableLinearThreshold</a> (_id,threshold); }
93<a name="l00078"></a>00078   dReal getAutoDisableLinearThreshold()
94<a name="l00079"></a>00079     { <span class="keywordflow">return</span> <a class="code" href="group__disable.html#g48802a9736cc8cc9c1a14cbc3125d9b2" title="Get auto disable linear threshold for newly created bodies.">dWorldGetAutoDisableLinearThreshold</a> (_id); }
95<a name="l00080"></a>00080   <span class="keywordtype">void</span> setAutoDisableAngularThreshold (dReal threshold)
96<a name="l00081"></a>00081     { <a class="code" href="group__disable.html#g61cae2bd156129a918c3a1e69ac1b6dd" title="Set auto disable angular threshold for newly created bodies.">dWorldSetAutoDisableAngularThreshold</a> (_id,threshold); }
97<a name="l00082"></a>00082   dReal getAutoDisableAngularThreshold()
98<a name="l00083"></a>00083     { <span class="keywordflow">return</span> <a class="code" href="group__disable.html#g9d32b31b5d343c324897434a97387abc" title="Get auto disable angular threshold for newly created bodies.">dWorldGetAutoDisableAngularThreshold</a> (_id); }
99<a name="l00084"></a>00084   <span class="keywordtype">void</span> setAutoDisableSteps (<span class="keywordtype">int</span> steps)
100<a name="l00085"></a>00085     { <a class="code" href="group__disable.html#gdb9f69119d1aa259a0e32a8ff94e2535" title="Set auto disable steps for newly created bodies.">dWorldSetAutoDisableSteps</a> (_id,steps); }
101<a name="l00086"></a>00086   <span class="keywordtype">int</span> getAutoDisableSteps()
102<a name="l00087"></a>00087     { <span class="keywordflow">return</span> <a class="code" href="group__disable.html#gb0a26f648b9e40d8d4639bf187d5ac94" title="Get auto disable steps for newly created bodies.">dWorldGetAutoDisableSteps</a> (_id); }
103<a name="l00088"></a>00088   <span class="keywordtype">void</span> setAutoDisableTime (dReal time)
104<a name="l00089"></a>00089     { <a class="code" href="group__disable.html#g06828866a19cab7aeb129ca9ec76863b" title="Set auto disable time for newly created bodies.">dWorldSetAutoDisableTime</a> (_id,time); }
105<a name="l00090"></a>00090   dReal getAutoDisableTime()
106<a name="l00091"></a>00091     { <span class="keywordflow">return</span> <a class="code" href="group__disable.html#gbc004c37efff5f962fa2ac271b3be8e1" title="Get auto disable time for newly created bodies.">dWorldGetAutoDisableTime</a> (_id); }
107<a name="l00092"></a>00092   <span class="keywordtype">void</span> setAutoDisableFlag (<span class="keywordtype">int</span> do_auto_disable)
108<a name="l00093"></a>00093     { <a class="code" href="group__disable.html#g58959b92ae4706e612bca673e85bfc50" title="Set auto disable flag for newly created bodies.">dWorldSetAutoDisableFlag</a> (_id,do_auto_disable); }
109<a name="l00094"></a>00094   <span class="keywordtype">int</span> getAutoDisableFlag()
110<a name="l00095"></a>00095     { <span class="keywordflow">return</span> <a class="code" href="group__disable.html#g7617d19f08c7b1d22cf17ccf22bbdc00" title="Get auto disable flag for newly created bodies.">dWorldGetAutoDisableFlag</a> (_id); }
111<a name="l00096"></a>00096
112<a name="l00097"></a>00097   <span class="keywordtype">void</span> impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
113<a name="l00098"></a>00098              dVector3 force)
114<a name="l00099"></a>00099     { <a class="code" href="group__world.html#ga9c564b4dd7d8fa4c6f4b32dd95fc33a" title="Converts an impulse to a force.">dWorldImpulseToForce</a> (_id,stepsize,ix,iy,iz,force); }
115<a name="l00100"></a>00100 };
116<a name="l00101"></a>00101
117<a name="l00102"></a>00102
118<a name="l00103"></a>00103 <span class="keyword">class </span>dBody {
119<a name="l00104"></a>00104   dBodyID _id;
120<a name="l00105"></a>00105
121<a name="l00106"></a>00106   <span class="comment">// intentionally undefined, don't use these</span>
122<a name="l00107"></a>00107   dBody (<span class="keyword">const</span> dBody &amp;);
123<a name="l00108"></a>00108   <span class="keywordtype">void</span> operator= (<span class="keyword">const</span> dBody &amp;);
124<a name="l00109"></a>00109
125<a name="l00110"></a>00110 <span class="keyword">public</span>:
126<a name="l00111"></a>00111   dBody()
127<a name="l00112"></a>00112     { _id = 0; }
128<a name="l00113"></a>00113   dBody (dWorldID world)
129<a name="l00114"></a>00114     { _id = <a class="code" href="group__bodies.html#g578137bbaf82d4b8896d2baee3a032a6" title="Create a body in given world.">dBodyCreate</a> (world); }
130<a name="l00115"></a>00115   ~dBody()
131<a name="l00116"></a>00116     { <span class="keywordflow">if</span> (_id) <a class="code" href="group__bodies.html#gc1a0ee96898f14017a29b2afa0eafe13" title="Destroy a body.">dBodyDestroy</a> (_id); }
132<a name="l00117"></a>00117
133<a name="l00118"></a>00118   <span class="keywordtype">void</span> create (dWorldID world) {
134<a name="l00119"></a>00119     <span class="keywordflow">if</span> (_id) <a class="code" href="group__bodies.html#gc1a0ee96898f14017a29b2afa0eafe13" title="Destroy a body.">dBodyDestroy</a> (_id);
135<a name="l00120"></a>00120     _id = <a class="code" href="group__bodies.html#g578137bbaf82d4b8896d2baee3a032a6" title="Create a body in given world.">dBodyCreate</a> (world);
136<a name="l00121"></a>00121   }
137<a name="l00122"></a>00122
138<a name="l00123"></a>00123   dBodyID id()<span class="keyword"> const</span>
139<a name="l00124"></a>00124 <span class="keyword">    </span>{ <span class="keywordflow">return</span> _id; }
140<a name="l00125"></a>00125   operator dBodyID()<span class="keyword"> const</span>
141<a name="l00126"></a>00126 <span class="keyword">    </span>{ <span class="keywordflow">return</span> _id; }
142<a name="l00127"></a>00127
143<a name="l00128"></a>00128   <span class="keywordtype">void</span> setData (<span class="keywordtype">void</span> *data)
144<a name="l00129"></a>00129     { <a class="code" href="group__bodies.html#gf9cbe9e1ed1bd4559bb5603b8d0f92f2" title="Set the body&amp;#39;s user-data pointer.">dBodySetData</a> (_id,data); }
145<a name="l00130"></a>00130   <span class="keywordtype">void</span> *getData()<span class="keyword"> const</span>
146<a name="l00131"></a>00131 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g68d3d80c7476776dd4512d577bf70325" title="Get the body&amp;#39;s user-data pointer.">dBodyGetData</a> (_id); }
147<a name="l00132"></a>00132
148<a name="l00133"></a>00133   <span class="keywordtype">void</span> setPosition (dReal x, dReal y, dReal z)
149<a name="l00134"></a>00134     { <a class="code" href="group__bodies.html#gb84612b793366f18ff5b5cbdbed092da" title="Set position of a body.">dBodySetPosition</a> (_id,x,y,z); }
150<a name="l00135"></a>00135   <span class="keywordtype">void</span> setRotation (<span class="keyword">const</span> dMatrix3 R)
151<a name="l00136"></a>00136     { <a class="code" href="group__bodies.html#gb5f04968ec37ef46d2aaffad6c344468" title="Set the orientation of a body.">dBodySetRotation</a> (_id,R); }
152<a name="l00137"></a>00137   <span class="keywordtype">void</span> setQuaternion (<span class="keyword">const</span> dQuaternion q)
153<a name="l00138"></a>00138     { <a class="code" href="group__bodies.html#ga5f51dd3605c402320e9eae4231d7ad4" title="Set the orientation of a body.">dBodySetQuaternion</a> (_id,q); }
154<a name="l00139"></a>00139   <span class="keywordtype">void</span> setLinearVel  (dReal x, dReal y, dReal z)
155<a name="l00140"></a>00140     { <a class="code" href="group__bodies.html#gafe72e03c1df0f2150e2d7b8677e1460" title="Set the linear velocity of a body.">dBodySetLinearVel</a> (_id,x,y,z); }
156<a name="l00141"></a>00141   <span class="keywordtype">void</span> setAngularVel (dReal x, dReal y, dReal z)
157<a name="l00142"></a>00142     { <a class="code" href="group__bodies.html#g7b4f90c1986333395375c086c4f3ec41" title="Set the angular velocity of a body.">dBodySetAngularVel</a> (_id,x,y,z); }
158<a name="l00143"></a>00143
159<a name="l00144"></a>00144   <span class="keyword">const</span> dReal * getPosition()<span class="keyword"> const</span>
160<a name="l00145"></a>00145 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g2bddae29591b9f14c5175411b783d570" title="Get the position of a body.">dBodyGetPosition</a> (_id); }
161<a name="l00146"></a>00146   <span class="keyword">const</span> dReal * getRotation()<span class="keyword"> const</span>
162<a name="l00147"></a>00147 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g2374da7ff88a2bac607e2fbce529ad27" title="Get the rotation of a body.">dBodyGetRotation</a> (_id); }
163<a name="l00148"></a>00148   <span class="keyword">const</span> dReal * getQuaternion()<span class="keyword"> const</span>
164<a name="l00149"></a>00149 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g36b7e19622ed47fe6b9dcfbac20237e7" title="Get the rotation of a body.">dBodyGetQuaternion</a> (_id); }
165<a name="l00150"></a>00150   <span class="keyword">const</span> dReal * getLinearVel()<span class="keyword"> const</span>
166<a name="l00151"></a>00151 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g2a0a986c12d53efd5a3753dd4b509cac" title="Get the linear velocity of a body.">dBodyGetLinearVel</a> (_id); }
167<a name="l00152"></a>00152   <span class="keyword">const</span> dReal * getAngularVel()<span class="keyword"> const</span>
168<a name="l00153"></a>00153 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g54dc73be9562cdece52d0a7d8decd1d0" title="Get the angular velocity of a body.">dBodyGetAngularVel</a> (_id); }
169<a name="l00154"></a>00154
170<a name="l00155"></a>00155   <span class="keywordtype">void</span> setMass (<span class="keyword">const</span> dMass *mass)
171<a name="l00156"></a>00156     { <a class="code" href="group__bodies.html#gf3609b58548e34471ef8ad4727b33e52" title="Set the mass of a body.">dBodySetMass</a> (_id,mass); }
172<a name="l00157"></a>00157   <span class="keywordtype">void</span> getMass (dMass *mass)<span class="keyword"> const</span>
173<a name="l00158"></a>00158 <span class="keyword">    </span>{ <a class="code" href="group__bodies.html#g7aa7944f6e36a96d3e578f3369ac4171" title="Get the mass of a body.">dBodyGetMass</a> (_id,mass); }
174<a name="l00159"></a>00159
175<a name="l00160"></a>00160   <span class="keywordtype">void</span> addForce (dReal fx, dReal fy, dReal fz)
176<a name="l00161"></a>00161     { <a class="code" href="group__bodies.html#g1e1352dc350ad42bff5818f2200ba792" title="Add force at centre of mass of body in absolute coordinates.">dBodyAddForce</a> (_id, fx, fy, fz); }
177<a name="l00162"></a>00162   <span class="keywordtype">void</span> addTorque (dReal fx, dReal fy, dReal fz)
178<a name="l00163"></a>00163     { <a class="code" href="group__bodies.html#g8378560dd168ee8d7a4b74e3de510ebc" title="Add torque at centre of mass of body in absolute coordinates.">dBodyAddTorque</a> (_id, fx, fy, fz); }
179<a name="l00164"></a>00164   <span class="keywordtype">void</span> addRelForce (dReal fx, dReal fy, dReal fz)
180<a name="l00165"></a>00165     { <a class="code" href="group__bodies.html#g0a91e5416c5af7729177c465346837ad" title="Add force at centre of mass of body in coordinates relative to body.">dBodyAddRelForce</a> (_id, fx, fy, fz); }
181<a name="l00166"></a>00166   <span class="keywordtype">void</span> addRelTorque (dReal fx, dReal fy, dReal fz)
182<a name="l00167"></a>00167     { <a class="code" href="group__bodies.html#g172a59e64f6dfa4a59bcd45b694585de" title="Add torque at centre of mass of body in coordinates relative to body.">dBodyAddRelTorque</a> (_id, fx, fy, fz); }
183<a name="l00168"></a>00168   <span class="keywordtype">void</span> addForceAtPos (dReal fx, dReal fy, dReal fz,
184<a name="l00169"></a>00169             dReal px, dReal py, dReal pz)
185<a name="l00170"></a>00170     { <a class="code" href="group__bodies.html#gfa134c6b7b455680b890b677c5789c2b" title="Add force at specified point in body in global coordinates.">dBodyAddForceAtPos</a> (_id, fx, fy, fz, px, py, pz); }
186<a name="l00171"></a>00171   <span class="keywordtype">void</span> addForceAtRelPos (dReal fx, dReal fy, dReal fz,
187<a name="l00172"></a>00172             dReal px, dReal py, dReal pz)
188<a name="l00173"></a>00173     { <a class="code" href="group__bodies.html#g77606cdb23029337a7ed43dee5a59ee1" title="Add force at specified point in body in local coordinates.">dBodyAddForceAtRelPos</a> (_id, fx, fy, fz, px, py, pz); }
189<a name="l00174"></a>00174   <span class="keywordtype">void</span> addRelForceAtPos (dReal fx, dReal fy, dReal fz,
190<a name="l00175"></a>00175           dReal px, dReal py, dReal pz)
191<a name="l00176"></a>00176     { <a class="code" href="group__bodies.html#ga024b08f8dfb85705b86e18b99a0ef8e" title="Add force at specified point in body in global coordinates.">dBodyAddRelForceAtPos</a> (_id, fx, fy, fz, px, py, pz); }
192<a name="l00177"></a>00177   <span class="keywordtype">void</span> addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
193<a name="l00178"></a>00178              dReal px, dReal py, dReal pz)
194<a name="l00179"></a>00179     { <a class="code" href="group__bodies.html#g7e5d20b6bb36f74d0dedb08f5eefddcb" title="Add force at specified point in body in local coordinates.">dBodyAddRelForceAtRelPos</a> (_id, fx, fy, fz, px, py, pz); }
195<a name="l00180"></a>00180
196<a name="l00181"></a>00181   <span class="keyword">const</span> dReal * getForce()<span class="keyword"> const</span>
197<a name="l00182"></a>00182 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g3b458397a79f09b1957cb6e5a85e9eba" title="Return the current accumulated force vector.">dBodyGetForce</a>(_id); }
198<a name="l00183"></a>00183   <span class="keyword">const</span> dReal * getTorque()<span class="keyword"> const</span>
199<a name="l00184"></a>00184 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#gfe88a5bc363fc812c8f154e3d5f8ea5d" title="Return the current accumulated torque vector.">dBodyGetTorque</a>(_id); }
200<a name="l00185"></a>00185   <span class="keywordtype">void</span> setForce (dReal x, dReal y, dReal z)
201<a name="l00186"></a>00186     { <a class="code" href="group__bodies.html#gbd56079db36d4562db0e18aebea4f95f" title="Set the body force accumulation vector.">dBodySetForce</a> (_id,x,y,z); }
202<a name="l00187"></a>00187   <span class="keywordtype">void</span> setTorque (dReal x, dReal y, dReal z)
203<a name="l00188"></a>00188     { <a class="code" href="group__bodies.html#gfcd3e44223a878ba52428ad3a124fa94" title="Set the body torque accumulation vector.">dBodySetTorque</a> (_id,x,y,z); }
204<a name="l00189"></a>00189
205<a name="l00190"></a>00190   <span class="keywordtype">void</span> enable()
206<a name="l00191"></a>00191     { <a class="code" href="group__bodies.html#gd0776c40f667b235f8642e10755543f8" title="Manually enable a body.">dBodyEnable</a> (_id); }
207<a name="l00192"></a>00192   <span class="keywordtype">void</span> disable()
208<a name="l00193"></a>00193     { <a class="code" href="group__bodies.html#ga78092d7cadae36373441aa9be7e6157" title="Manually disable a body.">dBodyDisable</a> (_id); }
209<a name="l00194"></a>00194   <span class="keywordtype">int</span> isEnabled()<span class="keyword"> const</span>
210<a name="l00195"></a>00195 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g7e7803132dfcfceee04a6ab0ca1e0bf8" title="Check wether a body is enabled.">dBodyIsEnabled</a> (_id); }
211<a name="l00196"></a>00196
212<a name="l00197"></a>00197   <span class="keywordtype">void</span> getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result)<span class="keyword"> const</span>
213<a name="l00198"></a>00198 <span class="keyword">    </span>{ <a class="code" href="group__bodies.html#gfcf00cd9c4c754c82189fb9d1eb9f102" title="Get world position of a relative point on body.">dBodyGetRelPointPos</a> (_id, px, py, pz, result); }
214<a name="l00199"></a>00199   <span class="keywordtype">void</span> getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result)<span class="keyword"> const</span>
215<a name="l00200"></a>00200 <span class="keyword">    </span>{ <a class="code" href="group__bodies.html#g7fd4f4c7e70c59380da11277b2e97510" title="Get velocity vector in global coords of a relative point on body.">dBodyGetRelPointVel</a> (_id, px, py, pz, result); }
216<a name="l00201"></a>00201   <span class="keywordtype">void</span> getPointVel (dReal px, dReal py, dReal pz, dVector3 result)<span class="keyword"> const</span>
217<a name="l00202"></a>00202 <span class="keyword">    </span>{ <a class="code" href="group__bodies.html#g89dd6a4a3c6f3cd98c8377e8d4dec015" title="Get velocity vector in global coords of a globally specified point on a body.">dBodyGetPointVel</a> (_id,px,py,pz,result); }
218<a name="l00203"></a>00203   <span class="keywordtype">void</span> getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result)<span class="keyword"> const</span>
219<a name="l00204"></a>00204 <span class="keyword">    </span>{ <a class="code" href="group__bodies.html#g0334d9d523cbfeec742ac4a814834199" title="takes a point in global coordinates and returns the point&amp;#39;s position in body-relative...">dBodyGetPosRelPoint</a> (_id,px,py,pz,result); }
220<a name="l00205"></a>00205   <span class="keywordtype">void</span> vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result)<span class="keyword"> const</span>
221<a name="l00206"></a>00206 <span class="keyword">    </span>{ <a class="code" href="group__bodies.html#g0a2cd6f7499bcfeb8275cbb981465bbf" title="Convert from local to world coordinates.">dBodyVectorToWorld</a> (_id,px,py,pz,result); }
222<a name="l00207"></a>00207   <span class="keywordtype">void</span> vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result)<span class="keyword"> const</span>
223<a name="l00208"></a>00208 <span class="keyword">    </span>{ <a class="code" href="group__bodies.html#g1e3ac3ef038e806d4942ea8b399ab575" title="Convert from world to local coordinates.">dBodyVectorFromWorld</a> (_id,px,py,pz,result); }
224<a name="l00209"></a>00209
225<a name="l00210"></a>00210   <span class="keywordtype">void</span> setFiniteRotationMode (<span class="keywordtype">int</span> mode)
226<a name="l00211"></a>00211     { <a class="code" href="group__bodies.html#gc474ca36d734fb67b8bd504b672527fa" title="controls the way a body&amp;#39;s orientation is updated at each timestep.">dBodySetFiniteRotationMode</a> (_id, mode); }
227<a name="l00212"></a>00212   <span class="keywordtype">void</span> setFiniteRotationAxis (dReal x, dReal y, dReal z)
228<a name="l00213"></a>00213     { <a class="code" href="group__bodies.html#ga9546c1ea6119fcbf80c71a96f56d052" title="sets the finite rotation axis for a body.">dBodySetFiniteRotationAxis</a> (_id, x, y, z); }
229<a name="l00214"></a>00214
230<a name="l00215"></a>00215   <span class="keywordtype">int</span> getFiniteRotationMode()<span class="keyword"> const</span>
231<a name="l00216"></a>00216 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g3fb10ac984d64c92e4f138e50b704f9e" title="Get the way a body&amp;#39;s orientation is updated each timestep.">dBodyGetFiniteRotationMode</a> (_id); }
232<a name="l00217"></a>00217   <span class="keywordtype">void</span> getFiniteRotationAxis (dVector3 result)<span class="keyword"> const</span>
233<a name="l00218"></a>00218 <span class="keyword">    </span>{ <a class="code" href="group__bodies.html#gfc8853ff678be731881665ff7abf61ad" title="Get the finite rotation axis.">dBodyGetFiniteRotationAxis</a> (_id, result); }
234<a name="l00219"></a>00219
235<a name="l00220"></a>00220   <span class="keywordtype">int</span> getNumJoints()<span class="keyword"> const</span>
236<a name="l00221"></a>00221 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g79fd517a57ac9c3594cb71850f649af7" title="Get the number of joints that are attached to this body.">dBodyGetNumJoints</a> (_id); }
237<a name="l00222"></a>00222   dJointID getJoint (<span class="keywordtype">int</span> index)<span class="keyword"> const</span>
238<a name="l00223"></a>00223 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g095e41c5b5632b22aa9bd1a4bd051f8d" title="Return a joint attached to this body, given by index.">dBodyGetJoint</a> (_id, index); }
239<a name="l00224"></a>00224
240<a name="l00225"></a>00225   <span class="keywordtype">void</span> setGravityMode (<span class="keywordtype">int</span> mode)
241<a name="l00226"></a>00226     { <a class="code" href="group__bodies.html#g5465d605e7fbe82d63a0d4e1000da731" title="Set whether the body is influenced by the world&amp;#39;s gravity or not.">dBodySetGravityMode</a> (_id,mode); }
242<a name="l00227"></a>00227   <span class="keywordtype">int</span> getGravityMode()<span class="keyword"> const</span>
243<a name="l00228"></a>00228 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g0df2f4fed454c567f10fc8bbb8c70455" title="Get whether the body is influenced by the world&amp;#39;s gravity or not.">dBodyGetGravityMode</a> (_id); }
244<a name="l00229"></a>00229
245<a name="l00230"></a>00230   <span class="keywordtype">int</span> isConnectedTo (dBodyID body)<span class="keyword"> const</span>
246<a name="l00231"></a>00231 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g68eb2f4daea03713db4d8b4daca663ae" title="Utility function.">dAreConnected</a> (_id, body); }
247<a name="l00232"></a>00232
248<a name="l00233"></a>00233   <span class="keywordtype">void</span>  setAutoDisableLinearThreshold (dReal threshold)
249<a name="l00234"></a>00234     { <a class="code" href="group__bodies.html#gb8f6e736830cfea86c35e7a0cdfa3112" title="Set auto disable linear average threshold.">dBodySetAutoDisableLinearThreshold</a> (_id,threshold); }
250<a name="l00235"></a>00235   dReal getAutoDisableLinearThreshold()
251<a name="l00236"></a>00236     { <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g57c1e1b1bd50fdcafc5140c1ed89c7d7" title="Get auto disable linear average threshold.">dBodyGetAutoDisableLinearThreshold</a> (_id); }
252<a name="l00237"></a>00237   <span class="keywordtype">void</span> setAutoDisableAngularThreshold (dReal threshold)
253<a name="l00238"></a>00238     { <a class="code" href="group__bodies.html#g206ccf22f027a62aaf5e45a16ddc4040" title="Set auto disable angular average threshold.">dBodySetAutoDisableAngularThreshold</a> (_id,threshold); }
254<a name="l00239"></a>00239   dReal getAutoDisableAngularThreshold()
255<a name="l00240"></a>00240     { <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g5b988719423e9bc3af1be2146872e2d6" title="Get auto disable angular average threshold.">dBodyGetAutoDisableAngularThreshold</a> (_id); }
256<a name="l00241"></a>00241   <span class="keywordtype">void</span> setAutoDisableSteps (<span class="keywordtype">int</span> steps)
257<a name="l00242"></a>00242     { <a class="code" href="group__bodies.html#g03cc329bdc8e19e59c4bfe62cf736578" title="Set auto disable steps.">dBodySetAutoDisableSteps</a> (_id,steps); }
258<a name="l00243"></a>00243   <span class="keywordtype">int</span> getAutoDisableSteps()
259<a name="l00244"></a>00244     { <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#g797ad84c737a2ae4ef3f8a37dfa02183" title="Get auto steps a body must be thought of as idle to disable.">dBodyGetAutoDisableSteps</a> (_id); }
260<a name="l00245"></a>00245   <span class="keywordtype">void</span> setAutoDisableTime (dReal time)
261<a name="l00246"></a>00246     { <a class="code" href="group__bodies.html#g0ae2f08bb38359934151f9420cdef341" title="Set auto disable time.">dBodySetAutoDisableTime</a> (_id,time); }
262<a name="l00247"></a>00247   dReal getAutoDisableTime()
263<a name="l00248"></a>00248     { <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#ga2f4d01a8fb5c4d7e77efd5f0e4dd72b" title="Get auto disable time.">dBodyGetAutoDisableTime</a> (_id); }
264<a name="l00249"></a>00249   <span class="keywordtype">void</span> setAutoDisableFlag (<span class="keywordtype">int</span> do_auto_disable)
265<a name="l00250"></a>00250     { <a class="code" href="group__bodies.html#ge352fdcd8851224f07da53f35691ceb7" title="Set auto disable flag.">dBodySetAutoDisableFlag</a> (_id,do_auto_disable); }
266<a name="l00251"></a>00251   <span class="keywordtype">int</span> getAutoDisableFlag()
267<a name="l00252"></a>00252     { <span class="keywordflow">return</span> <a class="code" href="group__bodies.html#gfe44b3ae620abb1091472089cb07f64e" title="Get auto disable flag.">dBodyGetAutoDisableFlag</a> (_id); }
268<a name="l00253"></a>00253 };
269<a name="l00254"></a>00254
270<a name="l00255"></a>00255
271<a name="l00256"></a>00256 <span class="keyword">class </span>dJointGroup {
272<a name="l00257"></a>00257   dJointGroupID _id;
273<a name="l00258"></a>00258
274<a name="l00259"></a>00259   <span class="comment">// intentionally undefined, don't use these</span>
275<a name="l00260"></a>00260   dJointGroup (<span class="keyword">const</span> dJointGroup &amp;);
276<a name="l00261"></a>00261   <span class="keywordtype">void</span> operator= (<span class="keyword">const</span> dJointGroup &amp;);
277<a name="l00262"></a>00262
278<a name="l00263"></a>00263 <span class="keyword">public</span>:
279<a name="l00264"></a>00264   dJointGroup (<span class="keywordtype">int</span> dummy_arg=0)
280<a name="l00265"></a>00265     { _id = <a class="code" href="group__joints.html#gaaec687b184a1214133a41503e7c628f" title="Create a joint group.">dJointGroupCreate</a> (0); }
281<a name="l00266"></a>00266   ~dJointGroup()
282<a name="l00267"></a>00267     { <a class="code" href="group__joints.html#g49e664ee9a8bd7bfe5e6932bf936bb8f" title="Destroy a joint group.">dJointGroupDestroy</a> (_id); }
283<a name="l00268"></a>00268   <span class="keywordtype">void</span> create (<span class="keywordtype">int</span> dummy_arg=0) {
284<a name="l00269"></a>00269     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g49e664ee9a8bd7bfe5e6932bf936bb8f" title="Destroy a joint group.">dJointGroupDestroy</a> (_id);
285<a name="l00270"></a>00270     _id = <a class="code" href="group__joints.html#gaaec687b184a1214133a41503e7c628f" title="Create a joint group.">dJointGroupCreate</a> (0);
286<a name="l00271"></a>00271   }
287<a name="l00272"></a>00272
288<a name="l00273"></a>00273   dJointGroupID id()<span class="keyword"> const</span>
289<a name="l00274"></a>00274 <span class="keyword">    </span>{ <span class="keywordflow">return</span> _id; }
290<a name="l00275"></a>00275   operator dJointGroupID()<span class="keyword"> const</span>
291<a name="l00276"></a>00276 <span class="keyword">    </span>{ <span class="keywordflow">return</span> _id; }
292<a name="l00277"></a>00277
293<a name="l00278"></a>00278   <span class="keywordtype">void</span> empty()
294<a name="l00279"></a>00279     { <a class="code" href="group__joints.html#g6e055bac8a0a3261bda3b6d07499c4ea" title="Empty a joint group.">dJointGroupEmpty</a> (_id); }
295<a name="l00280"></a>00280 };
296<a name="l00281"></a>00281
297<a name="l00282"></a>00282
298<a name="l00283"></a>00283 <span class="keyword">class </span>dJoint {
299<a name="l00284"></a>00284 <span class="keyword">private</span>:
300<a name="l00285"></a>00285   <span class="comment">// intentionally undefined, don't use these</span>
301<a name="l00286"></a>00286   dJoint (<span class="keyword">const</span> dJoint &amp;) ;
302<a name="l00287"></a>00287   <span class="keywordtype">void</span> operator= (<span class="keyword">const</span> dJoint &amp;);
303<a name="l00288"></a>00288
304<a name="l00289"></a>00289 <span class="keyword">protected</span>:
305<a name="l00290"></a>00290   dJointID _id;
306<a name="l00291"></a>00291
307<a name="l00292"></a>00292 <span class="keyword">public</span>:
308<a name="l00293"></a>00293   dJoint()
309<a name="l00294"></a>00294     { _id = 0; }
310<a name="l00295"></a>00295   ~dJoint()
311<a name="l00296"></a>00296     { <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id); }
312<a name="l00297"></a>00297
313<a name="l00298"></a>00298   dJointID id()<span class="keyword"> const</span>
314<a name="l00299"></a>00299 <span class="keyword">    </span>{ <span class="keywordflow">return</span> _id; }
315<a name="l00300"></a>00300   operator dJointID()<span class="keyword"> const</span>
316<a name="l00301"></a>00301 <span class="keyword">    </span>{ <span class="keywordflow">return</span> _id; }
317<a name="l00302"></a>00302
318<a name="l00303"></a>00303   <span class="keywordtype">void</span> attach (dBodyID body1, dBodyID body2)
319<a name="l00304"></a>00304     { <a class="code" href="group__joints.html#g8f1c9b1302c799a1b87bc29b76d0dcec" title="Attach the joint to some new bodies.">dJointAttach</a> (_id, body1, body2); }
320<a name="l00305"></a>00305
321<a name="l00306"></a>00306   <span class="keywordtype">void</span> setData (<span class="keywordtype">void</span> *data)
322<a name="l00307"></a>00307     { <a class="code" href="group__joints.html#g5ca72d8bd498ef1ba920b0b473e79d02" title="Set the user-data pointer.">dJointSetData</a> (_id, data); }
323<a name="l00308"></a>00308   <span class="keywordtype">void</span> *getData()<span class="keyword"> const</span>
324<a name="l00309"></a>00309 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g607702a11bae2d2613295f67088b0e82" title="Get the user-data pointer.">dJointGetData</a> (_id); }
325<a name="l00310"></a>00310
326<a name="l00311"></a>00311   <span class="keywordtype">int</span> getType()<span class="keyword"> const</span>
327<a name="l00312"></a>00312 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g6f12f69d9b1a457428a28c2f77148174" title="Get the type of the joint.">dJointGetType</a> (_id); }
328<a name="l00313"></a>00313
329<a name="l00314"></a>00314   dBodyID getBody (<span class="keywordtype">int</span> index)<span class="keyword"> const</span>
330<a name="l00315"></a>00315 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#gff13cbb464f1bfdc225fc9202c2c54c3" title="Return the bodies that this joint connects.">dJointGetBody</a> (_id, index); }
331<a name="l00316"></a>00316
332<a name="l00317"></a>00317   <span class="keywordtype">void</span> setFeedback(dJointFeedback *fb)
333<a name="l00318"></a>00318     { <a class="code" href="group__joints.html#g87ddb9beb95e9383a4280cb8a4186f01" title="Sets the datastructure that is to receive the feedback.">dJointSetFeedback</a>(_id, fb); }
334<a name="l00319"></a>00319   dJointFeedback *getFeedback()<span class="keyword"> const</span>
335<a name="l00320"></a>00320 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#gda1deef60d7afbb6b9375ddbf97e09a1" title="Gets the datastructure that is to receive the feedback.">dJointGetFeedback</a>(_id); }
336<a name="l00321"></a>00321 };
337<a name="l00322"></a>00322
338<a name="l00323"></a>00323
339<a name="l00324"></a>00324 <span class="keyword">class </span>dBallJoint : <span class="keyword">public</span> dJoint {
340<a name="l00325"></a>00325 <span class="keyword">private</span>:
341<a name="l00326"></a>00326   <span class="comment">// intentionally undefined, don't use these</span>
342<a name="l00327"></a>00327   dBallJoint (<span class="keyword">const</span> dBallJoint &amp;);
343<a name="l00328"></a>00328   <span class="keywordtype">void</span> operator= (<span class="keyword">const</span> dBallJoint &amp;);
344<a name="l00329"></a>00329
345<a name="l00330"></a>00330 <span class="keyword">public</span>:
346<a name="l00331"></a>00331   dBallJoint() { }
347<a name="l00332"></a>00332   dBallJoint (dWorldID world, dJointGroupID group=0)
348<a name="l00333"></a>00333     { _id = <a class="code" href="group__joints.html#g2d23509f8d6c6066b361af4cf14166f7" title="Create a new joint of the ball type.">dJointCreateBall</a> (world, group); }
349<a name="l00334"></a>00334
350<a name="l00335"></a>00335   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group=0) {
351<a name="l00336"></a>00336     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
352<a name="l00337"></a>00337     _id = <a class="code" href="group__joints.html#g2d23509f8d6c6066b361af4cf14166f7" title="Create a new joint of the ball type.">dJointCreateBall</a> (world, group);
353<a name="l00338"></a>00338   }
354<a name="l00339"></a>00339
355<a name="l00340"></a>00340   <span class="keywordtype">void</span> setAnchor (dReal x, dReal y, dReal z)
356<a name="l00341"></a>00341     { <a class="code" href="group__joints.html#g058c33a3da1ff935a1125034f779dc4a" title="Set the joint anchor point.">dJointSetBallAnchor</a> (_id, x, y, z); }
357<a name="l00342"></a>00342   <span class="keywordtype">void</span> getAnchor (dVector3 result)<span class="keyword"> const</span>
358<a name="l00343"></a>00343 <span class="keyword">    </span>{ dJointGetBallAnchor (_id, result); }
359<a name="l00344"></a>00344   <span class="keywordtype">void</span> getAnchor2 (dVector3 result)<span class="keyword"> const</span>
360<a name="l00345"></a>00345 <span class="keyword">    </span>{ dJointGetBallAnchor2 (_id, result); }
361<a name="l00346"></a>00346   <span class="keywordtype">void</span> setParam (<span class="keywordtype">int</span> parameter, dReal value)
362<a name="l00347"></a>00347     { <a class="code" href="group__joints.html#ge58f5e11c0829aa8615622a74dd11d85" title="Param setting for Ball joints.">dJointSetBallParam</a> (_id, parameter, value); }
363<a name="l00348"></a>00348   dReal getParam (<span class="keywordtype">int</span> parameter)<span class="keyword"> const</span>
364<a name="l00349"></a>00349 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g20a27c479a75443552942059542f26ad" title="get joint parameter">dJointGetBallParam</a> (_id, parameter); }
365<a name="l00350"></a>00350 } ;
366<a name="l00351"></a>00351
367<a name="l00352"></a>00352
368<a name="l00353"></a>00353 <span class="keyword">class </span>dHingeJoint : <span class="keyword">public</span> dJoint {
369<a name="l00354"></a>00354   <span class="comment">// intentionally undefined, don't use these</span>
370<a name="l00355"></a>00355   dHingeJoint (<span class="keyword">const</span> dHingeJoint &amp;);
371<a name="l00356"></a>00356   <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> dHingeJoint &amp;);
372<a name="l00357"></a>00357
373<a name="l00358"></a>00358 <span class="keyword">public</span>:
374<a name="l00359"></a>00359   dHingeJoint() { }
375<a name="l00360"></a>00360   dHingeJoint (dWorldID world, dJointGroupID group=0)
376<a name="l00361"></a>00361     { _id = <a class="code" href="group__joints.html#g2f18d431d48c905abc9d72ce011c00bd" title="Create a new joint of the hinge type.">dJointCreateHinge</a> (world, group); }
377<a name="l00362"></a>00362
378<a name="l00363"></a>00363   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group=0) {
379<a name="l00364"></a>00364     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
380<a name="l00365"></a>00365     _id = <a class="code" href="group__joints.html#g2f18d431d48c905abc9d72ce011c00bd" title="Create a new joint of the hinge type.">dJointCreateHinge</a> (world, group);
381<a name="l00366"></a>00366   }
382<a name="l00367"></a>00367
383<a name="l00368"></a>00368   <span class="keywordtype">void</span> setAnchor (dReal x, dReal y, dReal z)
384<a name="l00369"></a>00369     { <a class="code" href="group__joints.html#gc5727a125de0abbe2abd61af7a55da26" title="Set hinge anchor parameter.">dJointSetHingeAnchor</a> (_id, x, y, z); }
385<a name="l00370"></a>00370   <span class="keywordtype">void</span> getAnchor (dVector3 result)<span class="keyword"> const</span>
386<a name="l00371"></a>00371 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g1d1c4f9b10c550f6fec550f9cc80c7ab" title="Get the hinge anchor point, in world coordinates.">dJointGetHingeAnchor</a> (_id, result); }
387<a name="l00372"></a>00372   <span class="keywordtype">void</span> getAnchor2 (dVector3 result)<span class="keyword"> const</span>
388<a name="l00373"></a>00373 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#gfdc1d9c7bd8824ec3e79cc5aa67ddfa1" title="Get the joint anchor point, in world coordinates.">dJointGetHingeAnchor2</a> (_id, result); }
389<a name="l00374"></a>00374
390<a name="l00375"></a>00375   <span class="keywordtype">void</span> setAxis (dReal x, dReal y, dReal z)
391<a name="l00376"></a>00376     { <a class="code" href="group__joints.html#ga434229f033472ec7aa031a01c6cabed" title="Set hinge axis.">dJointSetHingeAxis</a> (_id, x, y, z); }
392<a name="l00377"></a>00377   <span class="keywordtype">void</span> getAxis (dVector3 result)<span class="keyword"> const</span>
393<a name="l00378"></a>00378 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g17b812897bc5faab33584cc5e3e4d3a4" title="get axis">dJointGetHingeAxis</a> (_id, result); }
394<a name="l00379"></a>00379
395<a name="l00380"></a>00380   dReal getAngle()<span class="keyword"> const</span>
396<a name="l00381"></a>00381 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g7ca6bdfe2b919b6bc2a27ba6f0e069f0" title="Get the hinge angle.">dJointGetHingeAngle</a> (_id); }
397<a name="l00382"></a>00382   dReal getAngleRate()<span class="keyword"> const</span>
398<a name="l00383"></a>00383 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g0d92377b748eb468dc38252df12afc76" title="Get the hinge angle time derivative.">dJointGetHingeAngleRate</a> (_id); }
399<a name="l00384"></a>00384
400<a name="l00385"></a>00385   <span class="keywordtype">void</span> setParam (<span class="keywordtype">int</span> parameter, dReal value)
401<a name="l00386"></a>00386     { <a class="code" href="group__joints.html#g6f9d34a01181e65639eb1f67da7a3e4c" title="set joint parameter">dJointSetHingeParam</a> (_id, parameter, value); }
402<a name="l00387"></a>00387   dReal getParam (<span class="keywordtype">int</span> parameter)<span class="keyword"> const</span>
403<a name="l00388"></a>00388 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g43416613e72d1b16a32331a0ba3c7d70" title="get joint parameter">dJointGetHingeParam</a> (_id, parameter); }
404<a name="l00389"></a>00389
405<a name="l00390"></a>00390   <span class="keywordtype">void</span> addTorque (dReal torque)
406<a name="l00391"></a>00391    { <a class="code" href="group__joints.html#ga1725abe170f80b0731321ed38785019" title="Applies the torque about the hinge axis.">dJointAddHingeTorque</a>(_id, torque); }
407<a name="l00392"></a>00392 };
408<a name="l00393"></a>00393
409<a name="l00394"></a>00394
410<a name="l00395"></a>00395 <span class="keyword">class </span>dSliderJoint : <span class="keyword">public</span> dJoint {
411<a name="l00396"></a>00396   <span class="comment">// intentionally undefined, don't use these</span>
412<a name="l00397"></a>00397   dSliderJoint (<span class="keyword">const</span> dSliderJoint &amp;);
413<a name="l00398"></a>00398   <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> dSliderJoint &amp;);
414<a name="l00399"></a>00399
415<a name="l00400"></a>00400 <span class="keyword">public</span>:
416<a name="l00401"></a>00401   dSliderJoint() { }
417<a name="l00402"></a>00402   dSliderJoint (dWorldID world, dJointGroupID group=0)
418<a name="l00403"></a>00403     { _id = <a class="code" href="group__joints.html#geccc4c67b2d409016685a6a9163be539" title="Create a new joint of the slider type.">dJointCreateSlider</a> (world, group); }
419<a name="l00404"></a>00404
420<a name="l00405"></a>00405   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group=0) {
421<a name="l00406"></a>00406     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
422<a name="l00407"></a>00407     _id = <a class="code" href="group__joints.html#geccc4c67b2d409016685a6a9163be539" title="Create a new joint of the slider type.">dJointCreateSlider</a> (world, group);
423<a name="l00408"></a>00408   }
424<a name="l00409"></a>00409
425<a name="l00410"></a>00410   <span class="keywordtype">void</span> setAxis (dReal x, dReal y, dReal z)
426<a name="l00411"></a>00411     { <a class="code" href="group__joints.html#gb2f662b1190507551f49ffa29d276b61" title="set the joint axis">dJointSetSliderAxis</a> (_id, x, y, z); }
427<a name="l00412"></a>00412   <span class="keywordtype">void</span> getAxis (dVector3 result)<span class="keyword"> const</span>
428<a name="l00413"></a>00413 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g17e31e7a877446213c39d1431269788e" title="Get the slider axis.">dJointGetSliderAxis</a> (_id, result); }
429<a name="l00414"></a>00414
430<a name="l00415"></a>00415   dReal getPosition()<span class="keyword"> const</span>
431<a name="l00416"></a>00416 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g7f35449914cbc4a86b845dcd85a617c0" title="Get the slider linear position (i.e. the slider&amp;#39;s extension).">dJointGetSliderPosition</a> (_id); }
432<a name="l00417"></a>00417   dReal getPositionRate()<span class="keyword"> const</span>
433<a name="l00418"></a>00418 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g93378c9c2d0cd50c79cfb78ca881f8ec" title="Get the slider linear position&amp;#39;s time derivative.">dJointGetSliderPositionRate</a> (_id); }
434<a name="l00419"></a>00419
435<a name="l00420"></a>00420   <span class="keywordtype">void</span> setParam (<span class="keywordtype">int</span> parameter, dReal value)
436<a name="l00421"></a>00421     { <a class="code" href="group__joints.html#g648964f4ca4122309e71a9cc6c24c985" title="set joint parameter">dJointSetSliderParam</a> (_id, parameter, value); }
437<a name="l00422"></a>00422   dReal getParam (<span class="keywordtype">int</span> parameter)<span class="keyword"> const</span>
438<a name="l00423"></a>00423 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#gc76d8bb4bf8587af70ef5932025048fe" title="get joint parameter">dJointGetSliderParam</a> (_id, parameter); }
439<a name="l00424"></a>00424
440<a name="l00425"></a>00425   <span class="keywordtype">void</span> addForce (dReal force)
441<a name="l00426"></a>00426    { <a class="code" href="group__joints.html#g8b0e018cc3df6ea5ddb42320913455e7" title="Applies the given force in the slider&amp;#39;s direction.">dJointAddSliderForce</a>(_id, force); }
442<a name="l00427"></a>00427 };
443<a name="l00428"></a>00428
444<a name="l00429"></a>00429
445<a name="l00430"></a>00430 <span class="keyword">class </span>dUniversalJoint : <span class="keyword">public</span> dJoint {
446<a name="l00431"></a>00431   <span class="comment">// intentionally undefined, don't use these</span>
447<a name="l00432"></a>00432   dUniversalJoint (<span class="keyword">const</span> dUniversalJoint &amp;);
448<a name="l00433"></a>00433   <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> dUniversalJoint &amp;);
449<a name="l00434"></a>00434
450<a name="l00435"></a>00435 <span class="keyword">public</span>:
451<a name="l00436"></a>00436   dUniversalJoint() { }
452<a name="l00437"></a>00437   dUniversalJoint (dWorldID world, dJointGroupID group=0)
453<a name="l00438"></a>00438     { _id = <a class="code" href="group__joints.html#g1cb2e7668242313b5d24acb5d43e5c62" title="Create a new joint of the universal type.">dJointCreateUniversal</a> (world, group); }
454<a name="l00439"></a>00439
455<a name="l00440"></a>00440   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group=0) {
456<a name="l00441"></a>00441     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
457<a name="l00442"></a>00442     _id = <a class="code" href="group__joints.html#g1cb2e7668242313b5d24acb5d43e5c62" title="Create a new joint of the universal type.">dJointCreateUniversal</a> (world, group);
458<a name="l00443"></a>00443   }
459<a name="l00444"></a>00444
460<a name="l00445"></a>00445   <span class="keywordtype">void</span> setAnchor (dReal x, dReal y, dReal z)
461<a name="l00446"></a>00446     { <a class="code" href="group__joints.html#gaf4657aed67f3cd7cce775215995c05d" title="set anchor">dJointSetUniversalAnchor</a> (_id, x, y, z); }
462<a name="l00447"></a>00447   <span class="keywordtype">void</span> setAxis1 (dReal x, dReal y, dReal z)
463<a name="l00448"></a>00448     { <a class="code" href="group__joints.html#ge0a831da9447ff65d76a0808502038e8" title="set axis">dJointSetUniversalAxis1</a> (_id, x, y, z); }
464<a name="l00449"></a>00449   <span class="keywordtype">void</span> setAxis2 (dReal x, dReal y, dReal z)
465<a name="l00450"></a>00450     { <a class="code" href="group__joints.html#gf3668eed7dc5aaf8fee19d7f87347343" title="set axis">dJointSetUniversalAxis2</a> (_id, x, y, z); }
466<a name="l00451"></a>00451   <span class="keywordtype">void</span> setParam (<span class="keywordtype">int</span> parameter, dReal value)
467<a name="l00452"></a>00452     { <a class="code" href="group__joints.html#g3c58284c43e997a028b06dc250064e32" title="set joint parameter">dJointSetUniversalParam</a> (_id, parameter, value); }
468<a name="l00453"></a>00453
469<a name="l00454"></a>00454   <span class="keywordtype">void</span> getAnchor (dVector3 result)<span class="keyword"> const</span>
470<a name="l00455"></a>00455 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#ga768432c561cb76ba2490913f42d1aaf" title="Get the joint anchor point, in world coordinates.">dJointGetUniversalAnchor</a> (_id, result); }
471<a name="l00456"></a>00456   <span class="keywordtype">void</span> getAnchor2 (dVector3 result)<span class="keyword"> const</span>
472<a name="l00457"></a>00457 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g00d5018903a90d75c324c4f870b0e7ea" title="Get the joint anchor point, in world coordinates.">dJointGetUniversalAnchor2</a> (_id, result); }
473<a name="l00458"></a>00458   <span class="keywordtype">void</span> getAxis1 (dVector3 result)<span class="keyword"> const</span>
474<a name="l00459"></a>00459 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#geaa8e546d93c304755a86ad3fa6d2abe" title="Get axis.">dJointGetUniversalAxis1</a> (_id, result); }
475<a name="l00460"></a>00460   <span class="keywordtype">void</span> getAxis2 (dVector3 result)<span class="keyword"> const</span>
476<a name="l00461"></a>00461 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g13c01cbc9c5e918740bac0540f6473b3" title="Get axis.">dJointGetUniversalAxis2</a> (_id, result); }
477<a name="l00462"></a>00462   dReal getParam (<span class="keywordtype">int</span> parameter)<span class="keyword"> const</span>
478<a name="l00463"></a>00463 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#gf96e70e676058b7eb385f5810fec641a" title="get joint parameter">dJointGetUniversalParam</a> (_id, parameter); }
479<a name="l00464"></a>00464  <span class="keywordtype">void</span> getAngles(dReal *angle1, dReal *angle2)<span class="keyword"> const</span>
480<a name="l00465"></a>00465 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g3c0fafbd1ccd8e450c01012ce600f6ab" title="Get both angles at the same time.">dJointGetUniversalAngles</a> (_id, angle1, angle2); }
481<a name="l00466"></a>00466
482<a name="l00467"></a>00467   dReal getAngle1()<span class="keyword"> const</span>
483<a name="l00468"></a>00468 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g3a08e2fed2e88eb0c964a33fb8c0c61f" title="Get angle.">dJointGetUniversalAngle1</a> (_id); }
484<a name="l00469"></a>00469   dReal getAngle1Rate()<span class="keyword"> const</span>
485<a name="l00470"></a>00470 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g1f8ff99b6c33d3da2004a8846112427c" title="Get time derivative of angle.">dJointGetUniversalAngle1Rate</a> (_id); }
486<a name="l00471"></a>00471   dReal getAngle2()<span class="keyword"> const</span>
487<a name="l00472"></a>00472 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g4026a7331d7956eef31e72e20e0c703b" title="Get angle.">dJointGetUniversalAngle2</a> (_id); }
488<a name="l00473"></a>00473   dReal getAngle2Rate()<span class="keyword"> const</span>
489<a name="l00474"></a>00474 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g94fb28ecb65cb0711b555558c22396cf" title="Get time derivative of angle.">dJointGetUniversalAngle2Rate</a> (_id); }
490<a name="l00475"></a>00475
491<a name="l00476"></a>00476   <span class="keywordtype">void</span> addTorques (dReal torque1, dReal torque2)
492<a name="l00477"></a>00477    { <a class="code" href="group__joints.html#g36607569e2ee26f39d3d42cba2397898" title="Applies torque1 about the universal&amp;#39;s axis 1, torque2 about the universal&amp;#39;s...">dJointAddUniversalTorques</a>(_id, torque1, torque2); }
493<a name="l00478"></a>00478 };
494<a name="l00479"></a>00479
495<a name="l00480"></a>00480
496<a name="l00481"></a>00481 <span class="keyword">class </span>dHinge2Joint : <span class="keyword">public</span> dJoint {
497<a name="l00482"></a>00482   <span class="comment">// intentionally undefined, don't use these</span>
498<a name="l00483"></a>00483   dHinge2Joint (<span class="keyword">const</span> dHinge2Joint &amp;);
499<a name="l00484"></a>00484   <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> dHinge2Joint &amp;);
500<a name="l00485"></a>00485
501<a name="l00486"></a>00486 <span class="keyword">public</span>:
502<a name="l00487"></a>00487   dHinge2Joint() { }
503<a name="l00488"></a>00488   dHinge2Joint (dWorldID world, dJointGroupID group=0)
504<a name="l00489"></a>00489     { _id = <a class="code" href="group__joints.html#g6a6e32d35bdda9352d1be8d4df973f8f" title="Create a new joint of the hinge2 type.">dJointCreateHinge2</a> (world, group); }
505<a name="l00490"></a>00490
506<a name="l00491"></a>00491   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group=0) {
507<a name="l00492"></a>00492     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
508<a name="l00493"></a>00493     _id = <a class="code" href="group__joints.html#g6a6e32d35bdda9352d1be8d4df973f8f" title="Create a new joint of the hinge2 type.">dJointCreateHinge2</a> (world, group);
509<a name="l00494"></a>00494   }
510<a name="l00495"></a>00495
511<a name="l00496"></a>00496   <span class="keywordtype">void</span> setAnchor (dReal x, dReal y, dReal z)
512<a name="l00497"></a>00497     { <a class="code" href="group__joints.html#gf839c13fa85aff0287a87986ff447d29" title="set anchor">dJointSetHinge2Anchor</a> (_id, x, y, z); }
513<a name="l00498"></a>00498   <span class="keywordtype">void</span> setAxis1 (dReal x, dReal y, dReal z)
514<a name="l00499"></a>00499     { <a class="code" href="group__joints.html#gcdf78fbb0f5b0a09b4d3ac2059b07002" title="set axis">dJointSetHinge2Axis1</a> (_id, x, y, z); }
515<a name="l00500"></a>00500   <span class="keywordtype">void</span> setAxis2 (dReal x, dReal y, dReal z)
516<a name="l00501"></a>00501     { <a class="code" href="group__joints.html#gdfef9f6365c87dacb95b4850a9e9f0ee" title="set axis">dJointSetHinge2Axis2</a> (_id, x, y, z); }
517<a name="l00502"></a>00502
518<a name="l00503"></a>00503   <span class="keywordtype">void</span> getAnchor (dVector3 result)<span class="keyword"> const</span>
519<a name="l00504"></a>00504 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g879999d011f82c73acf94029132cc198" title="Get the joint anchor point, in world coordinates.">dJointGetHinge2Anchor</a> (_id, result); }
520<a name="l00505"></a>00505   <span class="keywordtype">void</span> getAnchor2 (dVector3 result)<span class="keyword"> const</span>
521<a name="l00506"></a>00506 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#ga67cde755a0c9b699859ead5b5c81d26" title="Get the joint anchor point, in world coordinates. This returns the point on body...">dJointGetHinge2Anchor2</a> (_id, result); }
522<a name="l00507"></a>00507   <span class="keywordtype">void</span> getAxis1 (dVector3 result)<span class="keyword"> const</span>
523<a name="l00508"></a>00508 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g5d3e60c78ed85e8086dd60b13c3054f5" title="Get joint axis.">dJointGetHinge2Axis1</a> (_id, result); }
524<a name="l00509"></a>00509   <span class="keywordtype">void</span> getAxis2 (dVector3 result)<span class="keyword"> const</span>
525<a name="l00510"></a>00510 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g9459009e9370ea1a1e4de10f60053c87" title="Get joint axis.">dJointGetHinge2Axis2</a> (_id, result); }
526<a name="l00511"></a>00511
527<a name="l00512"></a>00512   dReal getAngle1()<span class="keyword"> const</span>
528<a name="l00513"></a>00513 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g430ed7cafe907e88929b28fdb17533c0" title="Get angle.">dJointGetHinge2Angle1</a> (_id); }
529<a name="l00514"></a>00514   dReal getAngle1Rate()<span class="keyword"> const</span>
530<a name="l00515"></a>00515 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g61881501e905ec1072aba05464fe44fb" title="Get time derivative of angle.">dJointGetHinge2Angle1Rate</a> (_id); }
531<a name="l00516"></a>00516   dReal getAngle2Rate()<span class="keyword"> const</span>
532<a name="l00517"></a>00517 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g028c47d8ff409f6856492d9eb0367c8a" title="Get time derivative of angle.">dJointGetHinge2Angle2Rate</a> (_id); }
533<a name="l00518"></a>00518
534<a name="l00519"></a>00519   <span class="keywordtype">void</span> setParam (<span class="keywordtype">int</span> parameter, dReal value)
535<a name="l00520"></a>00520     { <a class="code" href="group__joints.html#g9a2d8d03776ccb22869667337457a7a9" title="set joint parameter">dJointSetHinge2Param</a> (_id, parameter, value); }
536<a name="l00521"></a>00521   dReal getParam (<span class="keywordtype">int</span> parameter)<span class="keyword"> const</span>
537<a name="l00522"></a>00522 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g9fe8b60ba59aa9451e5758491e34045a" title="get joint parameter">dJointGetHinge2Param</a> (_id, parameter); }
538<a name="l00523"></a>00523
539<a name="l00524"></a>00524   <span class="keywordtype">void</span> addTorques(dReal torque1, dReal torque2)
540<a name="l00525"></a>00525    { <a class="code" href="group__joints.html#ga5ba1541d092f28c93b1bdc3bfb1b69f" title="Applies torque1 about the hinge2&amp;#39;s axis 1, torque2 about the hinge2&amp;#39;s axis...">dJointAddHinge2Torques</a>(_id, torque1, torque2); }
541<a name="l00526"></a>00526 };
542<a name="l00527"></a>00527
543<a name="l00528"></a>00528
544<a name="l00529"></a>00529 <span class="keyword">class </span>dPRJoint : <span class="keyword">public</span> dJoint {
545<a name="l00530"></a>00530   dPRJoint (<span class="keyword">const</span> dPRJoint &amp;);
546<a name="l00531"></a>00531   <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> dPRJoint &amp;);
547<a name="l00532"></a>00532
548<a name="l00533"></a>00533 <span class="keyword">public</span>:
549<a name="l00534"></a>00534   dPRJoint() { }
550<a name="l00535"></a>00535   dPRJoint (dWorldID world, dJointGroupID group=0)
551<a name="l00536"></a>00536     { _id = <a class="code" href="group__joints.html#gdc867f10ba9931d191244fa879e43cb2" title="Create a new joint of the PR (Prismatic and Rotoide) type.">dJointCreatePR</a> (world, group); }
552<a name="l00537"></a>00537
553<a name="l00538"></a>00538   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group=0) {
554<a name="l00539"></a>00539     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
555<a name="l00540"></a>00540     _id = <a class="code" href="group__joints.html#gdc867f10ba9931d191244fa879e43cb2" title="Create a new joint of the PR (Prismatic and Rotoide) type.">dJointCreatePR</a> (world, group);
556<a name="l00541"></a>00541   }
557<a name="l00542"></a>00542
558<a name="l00543"></a>00543   <span class="keywordtype">void</span> setAnchor (dReal x, dReal y, dReal z)
559<a name="l00544"></a>00544     { <a class="code" href="group__joints.html#ge46251e2cea2d31521b1fb9b151f640f" title="set anchor">dJointSetPRAnchor</a> (_id, x, y, z); }
560<a name="l00545"></a>00545   <span class="keywordtype">void</span> setAxis1 (dReal x, dReal y, dReal z)
561<a name="l00546"></a>00546     { <a class="code" href="group__joints.html#ga2ae3ab1fa58ec22bd443476f786fa81" title="set the axis for the prismatic articulation">dJointSetPRAxis1</a> (_id, x, y, z); }
562<a name="l00547"></a>00547   <span class="keywordtype">void</span> setAxis2 (dReal x, dReal y, dReal z)
563<a name="l00548"></a>00548     { <a class="code" href="group__joints.html#gc8c61c6dd7b28a58a4c0eaf2e91ecbd5" title="set the axis for the rotoide articulation">dJointSetPRAxis2</a> (_id, x, y, z); }
564<a name="l00549"></a>00549
565<a name="l00550"></a>00550   <span class="keywordtype">void</span> getAnchor (dVector3 result)<span class="keyword"> const</span>
566<a name="l00551"></a>00551 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g88b176c70948c3f96e5c9173904b04fe" title="Get the joint anchor point, in world coordinates.">dJointGetPRAnchor</a> (_id, result); }
567<a name="l00552"></a>00552   <span class="keywordtype">void</span> getAxis1 (dVector3 result)<span class="keyword"> const</span>
568<a name="l00553"></a>00553 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g826424aac5023739bb13426df672ab32" title="Get the prismatic axis.">dJointGetPRAxis1</a> (_id, result); }
569<a name="l00554"></a>00554   <span class="keywordtype">void</span> getAxis2 (dVector3 result)<span class="keyword"> const</span>
570<a name="l00555"></a>00555 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g5f175ed66c5df1119a251fad8a51059d" title="Get the Rotoide axis.">dJointGetPRAxis2</a> (_id, result); }
571<a name="l00556"></a>00556
572<a name="l00557"></a>00557   dReal getPosition()<span class="keyword"> const</span>
573<a name="l00558"></a>00558 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#gd8b95871e93525f44badcdaf8e521da7" title="Get the PR linear position (i.e. the prismatic&amp;#39;s extension).">dJointGetPRPosition</a> (_id); }
574<a name="l00559"></a>00559   dReal getPositionRate()<span class="keyword"> const</span>
575<a name="l00560"></a>00560 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#gc3a434069c8bf31ae5140e2bff3bbb26" title="Get the PR linear position&amp;#39;s time derivative.">dJointGetPRPositionRate</a> (_id); }
576<a name="l00561"></a>00561
577<a name="l00562"></a>00562   <span class="keywordtype">void</span> setParam (<span class="keywordtype">int</span> parameter, dReal value)
578<a name="l00563"></a>00563     { <a class="code" href="group__joints.html#gc08a28659605f17307d563f45db0824b" title="set joint parameter">dJointSetPRParam</a> (_id, parameter, value); }
579<a name="l00564"></a>00564   dReal getParam (<span class="keywordtype">int</span> parameter)<span class="keyword"> const</span>
580<a name="l00565"></a>00565 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g968b868bd1598b24a3101a04320206c6" title="get joint parameter">dJointGetPRParam</a> (_id, parameter); }
581<a name="l00566"></a>00566 };
582<a name="l00567"></a>00567
583<a name="l00568"></a>00568
584<a name="l00569"></a>00569 <span class="keyword">class </span>dFixedJoint : <span class="keyword">public</span> dJoint {
585<a name="l00570"></a>00570   <span class="comment">// intentionally undefined, don't use these</span>
586<a name="l00571"></a>00571   dFixedJoint (<span class="keyword">const</span> dFixedJoint &amp;);
587<a name="l00572"></a>00572   <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> dFixedJoint &amp;);
588<a name="l00573"></a>00573
589<a name="l00574"></a>00574 <span class="keyword">public</span>:
590<a name="l00575"></a>00575   dFixedJoint() { }
591<a name="l00576"></a>00576   dFixedJoint (dWorldID world, dJointGroupID group=0)
592<a name="l00577"></a>00577     { _id = <a class="code" href="group__joints.html#ge568995d03077e1acb13882a627dcf32" title="Create a new joint of the fixed type.">dJointCreateFixed</a> (world, group); }
593<a name="l00578"></a>00578
594<a name="l00579"></a>00579   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group=0) {
595<a name="l00580"></a>00580     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
596<a name="l00581"></a>00581     _id = <a class="code" href="group__joints.html#ge568995d03077e1acb13882a627dcf32" title="Create a new joint of the fixed type.">dJointCreateFixed</a> (world, group);
597<a name="l00582"></a>00582   }
598<a name="l00583"></a>00583
599<a name="l00584"></a>00584   <span class="keywordtype">void</span> <span class="keyword">set</span>()
600<a name="l00585"></a>00585     { <a class="code" href="group__joints.html#g8051a8232b4232f7b0d0fd57a3932072" title="Call this on the fixed joint after it has been attached to remember the current desired...">dJointSetFixed</a> (_id); }
601<a name="l00586"></a>00586
602<a name="l00587"></a>00587   <span class="keywordtype">void</span> setParam (<span class="keywordtype">int</span> parameter, dReal value)
603<a name="l00588"></a>00588     { dJointSetFixedParam (_id, parameter, value); }
604<a name="l00589"></a>00589
605<a name="l00590"></a>00590   dReal getParam (<span class="keywordtype">int</span> parameter)<span class="keyword"> const</span>
606<a name="l00591"></a>00591 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#ge433a5eac5f8600d8e6325666c2e12c2" title="get joint parameter">dJointGetFixedParam</a> (_id, parameter); }
607<a name="l00592"></a>00592 };
608<a name="l00593"></a>00593
609<a name="l00594"></a>00594
610<a name="l00595"></a>00595 <span class="keyword">class </span>dContactJoint : <span class="keyword">public</span> dJoint {
611<a name="l00596"></a>00596   <span class="comment">// intentionally undefined, don't use these</span>
612<a name="l00597"></a>00597   dContactJoint (<span class="keyword">const</span> dContactJoint &amp;);
613<a name="l00598"></a>00598   <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> dContactJoint &amp;);
614<a name="l00599"></a>00599
615<a name="l00600"></a>00600 <span class="keyword">public</span>:
616<a name="l00601"></a>00601   dContactJoint() { }
617<a name="l00602"></a>00602   dContactJoint (dWorldID world, dJointGroupID group, dContact *contact)
618<a name="l00603"></a>00603     { _id = <a class="code" href="group__joints.html#gfa5e1543239ba44ecbdc178ebc7c3cc4" title="Create a new joint of the contact type.">dJointCreateContact</a> (world, group, contact); }
619<a name="l00604"></a>00604
620<a name="l00605"></a>00605   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group, dContact *contact) {
621<a name="l00606"></a>00606     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
622<a name="l00607"></a>00607     _id = <a class="code" href="group__joints.html#gfa5e1543239ba44ecbdc178ebc7c3cc4" title="Create a new joint of the contact type.">dJointCreateContact</a> (world, group, contact);
623<a name="l00608"></a>00608   }
624<a name="l00609"></a>00609 };
625<a name="l00610"></a>00610
626<a name="l00611"></a>00611
627<a name="l00612"></a>00612 <span class="keyword">class </span>dNullJoint : <span class="keyword">public</span> dJoint {
628<a name="l00613"></a>00613   <span class="comment">// intentionally undefined, don't use these</span>
629<a name="l00614"></a>00614   dNullJoint (<span class="keyword">const</span> dNullJoint &amp;);
630<a name="l00615"></a>00615   <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> dNullJoint &amp;);
631<a name="l00616"></a>00616
632<a name="l00617"></a>00617 <span class="keyword">public</span>:
633<a name="l00618"></a>00618   dNullJoint() { }
634<a name="l00619"></a>00619   dNullJoint (dWorldID world, dJointGroupID group=0)
635<a name="l00620"></a>00620     { _id = dJointCreateNull (world, group); }
636<a name="l00621"></a>00621
637<a name="l00622"></a>00622   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group=0) {
638<a name="l00623"></a>00623     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
639<a name="l00624"></a>00624     _id = dJointCreateNull (world, group);
640<a name="l00625"></a>00625   }
641<a name="l00626"></a>00626 };
642<a name="l00627"></a>00627
643<a name="l00628"></a>00628
644<a name="l00629"></a>00629 <span class="keyword">class </span>dAMotorJoint : <span class="keyword">public</span> dJoint {
645<a name="l00630"></a>00630   <span class="comment">// intentionally undefined, don't use these</span>
646<a name="l00631"></a>00631   dAMotorJoint (<span class="keyword">const</span> dAMotorJoint &amp;);
647<a name="l00632"></a>00632   <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> dAMotorJoint &amp;);
648<a name="l00633"></a>00633
649<a name="l00634"></a>00634 <span class="keyword">public</span>:
650<a name="l00635"></a>00635   dAMotorJoint() { }
651<a name="l00636"></a>00636   dAMotorJoint (dWorldID world, dJointGroupID group=0)
652<a name="l00637"></a>00637     { _id = <a class="code" href="group__joints.html#gf23195ce77e12031393e591abd0e28e6" title="Create a new joint of the A-motor type.">dJointCreateAMotor</a> (world, group); }
653<a name="l00638"></a>00638
654<a name="l00639"></a>00639   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group=0) {
655<a name="l00640"></a>00640     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
656<a name="l00641"></a>00641     _id = <a class="code" href="group__joints.html#gf23195ce77e12031393e591abd0e28e6" title="Create a new joint of the A-motor type.">dJointCreateAMotor</a> (world, group);
657<a name="l00642"></a>00642   }
658<a name="l00643"></a>00643
659<a name="l00644"></a>00644   <span class="keywordtype">void</span> setMode (<span class="keywordtype">int</span> mode)
660<a name="l00645"></a>00645     { <a class="code" href="group__joints.html#gb0a3a8527810717c62a2c68dc4dfa822" title="set mode">dJointSetAMotorMode</a> (_id, mode); }
661<a name="l00646"></a>00646   <span class="keywordtype">int</span> getMode()<span class="keyword"> const</span>
662<a name="l00647"></a>00647 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#gf2430c2062414bc28660bdc06a0d72d5" title="Get the angular motor mode.">dJointGetAMotorMode</a> (_id); }
663<a name="l00648"></a>00648
664<a name="l00649"></a>00649   <span class="keywordtype">void</span> setNumAxes (<span class="keywordtype">int</span> num)
665<a name="l00650"></a>00650     { <a class="code" href="group__joints.html#g1406f976045a1b7edffbb46bf626d04f" title="set the nr of axes">dJointSetAMotorNumAxes</a> (_id, num); }
666<a name="l00651"></a>00651   <span class="keywordtype">int</span> getNumAxes()<span class="keyword"> const</span>
667<a name="l00652"></a>00652 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g35f0392af69ece0d0c3ef7ed88b532bf" title="Get the number of angular axes that will be controlled by the AMotor.">dJointGetAMotorNumAxes</a> (_id); }
668<a name="l00653"></a>00653
669<a name="l00654"></a>00654   <span class="keywordtype">void</span> setAxis (<span class="keywordtype">int</span> anum, <span class="keywordtype">int</span> rel, dReal x, dReal y, dReal z)
670<a name="l00655"></a>00655     { <a class="code" href="group__joints.html#gbef7d92227b62e04b60eb9df02359603" title="set axis">dJointSetAMotorAxis</a> (_id, anum, rel, x, y, z); }
671<a name="l00656"></a>00656   <span class="keywordtype">void</span> getAxis (<span class="keywordtype">int</span> anum, dVector3 result)<span class="keyword"> const</span>
672<a name="l00657"></a>00657 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#gef1af77cc19d81b24ad00025f3c9d5ec" title="Get the AMotor axes.">dJointGetAMotorAxis</a> (_id, anum, result); }
673<a name="l00658"></a>00658   <span class="keywordtype">int</span> getAxisRel (<span class="keywordtype">int</span> anum)<span class="keyword"> const</span>
674<a name="l00659"></a>00659 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g1887538374f044e22f9742650d14ae69" title="Get axis.">dJointGetAMotorAxisRel</a> (_id, anum); }
675<a name="l00660"></a>00660
676<a name="l00661"></a>00661   <span class="keywordtype">void</span> setAngle (<span class="keywordtype">int</span> anum, dReal angle)
677<a name="l00662"></a>00662     { <a class="code" href="group__joints.html#g17b2089e6512e22d71340befb40100d2" title="Tell the AMotor what the current angle is along axis anum.">dJointSetAMotorAngle</a> (_id, anum, angle); }
678<a name="l00663"></a>00663   dReal getAngle (<span class="keywordtype">int</span> anum)<span class="keyword"> const</span>
679<a name="l00664"></a>00664 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g3634444b00ac33a5f34a7af4fffda8b2" title="Get the current angle for axis.">dJointGetAMotorAngle</a> (_id, anum); }
680<a name="l00665"></a>00665   dReal getAngleRate (<span class="keywordtype">int</span> anum)
681<a name="l00666"></a>00666     { <span class="keywordflow">return</span> <a class="code" href="group__joints.html#ga65abc36177390330037299b689b70c7" title="Get the current angle rate for axis anum.">dJointGetAMotorAngleRate</a> (_id,anum); }
682<a name="l00667"></a>00667
683<a name="l00668"></a>00668   <span class="keywordtype">void</span> setParam (<span class="keywordtype">int</span> parameter, dReal value)
684<a name="l00669"></a>00669     { <a class="code" href="group__joints.html#gac3f00196ee0cdb772e00dc259ef639a" title="set joint parameter">dJointSetAMotorParam</a> (_id, parameter, value); }
685<a name="l00670"></a>00670   dReal getParam (<span class="keywordtype">int</span> parameter)<span class="keyword"> const</span>
686<a name="l00671"></a>00671 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#gfc4cd1046089baa4309d30ae7832d289" title="get joint parameter">dJointGetAMotorParam</a> (_id, parameter); }
687<a name="l00672"></a>00672
688<a name="l00673"></a>00673   <span class="keywordtype">void</span> addTorques(dReal torque1, dReal torque2, dReal torque3)
689<a name="l00674"></a>00674    { <a class="code" href="group__joints.html#g69d13d54516716020d2adb841699b77b" title="Applies torque0 about the AMotor&amp;#39;s axis 0, torque1 about the AMotor&amp;#39;s axis...">dJointAddAMotorTorques</a>(_id, torque1, torque2, torque3); }
690<a name="l00675"></a>00675 };
691<a name="l00676"></a>00676
692<a name="l00677"></a>00677
693<a name="l00678"></a>00678 <span class="keyword">class </span>dLMotorJoint : <span class="keyword">public</span> dJoint {
694<a name="l00679"></a>00679   <span class="comment">// intentionally undefined, don't use these</span>
695<a name="l00680"></a>00680   dLMotorJoint (<span class="keyword">const</span> dLMotorJoint &amp;);
696<a name="l00681"></a>00681   <span class="keywordtype">void</span> operator = (<span class="keyword">const</span> dLMotorJoint &amp;);
697<a name="l00682"></a>00682
698<a name="l00683"></a>00683 <span class="keyword">public</span>:
699<a name="l00684"></a>00684   dLMotorJoint() { }
700<a name="l00685"></a>00685   dLMotorJoint (dWorldID world, dJointGroupID group=0)
701<a name="l00686"></a>00686     { _id = <a class="code" href="group__joints.html#g21c8c99615269c5d9d3c57c674f6fd56" title="Create a new joint of the L-motor type.">dJointCreateLMotor</a> (world, group); }
702<a name="l00687"></a>00687
703<a name="l00688"></a>00688   <span class="keywordtype">void</span> create (dWorldID world, dJointGroupID group=0) {
704<a name="l00689"></a>00689     <span class="keywordflow">if</span> (_id) <a class="code" href="group__joints.html#g2187ccbcf51c951f680eb6c9a210801a" title="Destroy a joint.">dJointDestroy</a> (_id);
705<a name="l00690"></a>00690     _id = <a class="code" href="group__joints.html#g21c8c99615269c5d9d3c57c674f6fd56" title="Create a new joint of the L-motor type.">dJointCreateLMotor</a> (world, group);
706<a name="l00691"></a>00691   }
707<a name="l00692"></a>00692
708<a name="l00693"></a>00693   <span class="keywordtype">void</span> setNumAxes (<span class="keywordtype">int</span> num)
709<a name="l00694"></a>00694     { <a class="code" href="group__joints.html#gcbfb4014567d69010aba3024d9b7bccd" title="Set the number of axes that will be controlled by the LMotor.">dJointSetLMotorNumAxes</a> (_id, num); }
710<a name="l00695"></a>00695   <span class="keywordtype">int</span> getNumAxes()<span class="keyword"> const</span>
711<a name="l00696"></a>00696 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#g6d7557b5e94e0ee37561cadc5bf85cb7" title="Get nr of axes.">dJointGetLMotorNumAxes</a> (_id); }
712<a name="l00697"></a>00697
713<a name="l00698"></a>00698   <span class="keywordtype">void</span> setAxis (<span class="keywordtype">int</span> anum, <span class="keywordtype">int</span> rel, dReal x, dReal y, dReal z)
714<a name="l00699"></a>00699     { <a class="code" href="group__joints.html#g080b7739f5b2b37a798742cee0ef38a4" title="Set the AMotor axes.">dJointSetLMotorAxis</a> (_id, anum, rel, x, y, z); }
715<a name="l00700"></a>00700   <span class="keywordtype">void</span> getAxis (<span class="keywordtype">int</span> anum, dVector3 result)<span class="keyword"> const</span>
716<a name="l00701"></a>00701 <span class="keyword">    </span>{ <a class="code" href="group__joints.html#g4ef7e0ca633583e82d90679c8eb6d5c3" title="Get axis.">dJointGetLMotorAxis</a> (_id, anum, result); }
717<a name="l00702"></a>00702
718<a name="l00703"></a>00703   <span class="keywordtype">void</span> setParam (<span class="keywordtype">int</span> parameter, dReal value)
719<a name="l00704"></a>00704     { <a class="code" href="group__joints.html#g791bfa6e65d0c3dce99ca0bcd3beb8d6" title="set joint parameter">dJointSetLMotorParam</a> (_id, parameter, value); }
720<a name="l00705"></a>00705   dReal getParam (<span class="keywordtype">int</span> parameter)<span class="keyword"> const</span>
721<a name="l00706"></a>00706 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__joints.html#gcbc48fd61857e3843923166abf81a7a0" title="get joint parameter">dJointGetLMotorParam</a> (_id, parameter); }
722<a name="l00707"></a>00707 };
723<a name="l00708"></a>00708
724<a name="l00709"></a>00709
725<a name="l00710"></a>00710
726<a name="l00711"></a>00711 <span class="preprocessor">#endif</span>
727<a name="l00712"></a>00712 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
728</pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by&nbsp;
729<a href="http://www.doxygen.org/index.html">
730<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
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