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ODE_API dJointID | dJointCreateBall (dWorldID, dJointGroupID) |
| Create a new joint of the ball type. More...
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ODE_API dJointID | dJointCreateHinge (dWorldID, dJointGroupID) |
| Create a new joint of the hinge type. More...
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ODE_API dJointID | dJointCreateSlider (dWorldID, dJointGroupID) |
| Create a new joint of the slider type. More...
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ODE_API dJointID | dJointCreateContact (dWorldID, dJointGroupID, const dContact *) |
| Create a new joint of the contact type. More...
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ODE_API dJointID | dJointCreateHinge2 (dWorldID, dJointGroupID) |
| Create a new joint of the hinge2 type. More...
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ODE_API dJointID | dJointCreateUniversal (dWorldID, dJointGroupID) |
| Create a new joint of the universal type. More...
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ODE_API dJointID | dJointCreatePR (dWorldID, dJointGroupID) |
| Create a new joint of the PR (Prismatic and Rotoide) type. More...
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ODE_API dJointID | dJointCreatePU (dWorldID, dJointGroupID) |
| Create a new joint of the PU (Prismatic and Universal) type. More...
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ODE_API dJointID | dJointCreatePiston (dWorldID, dJointGroupID) |
| Create a new joint of the Piston type. More...
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ODE_API dJointID | dJointCreateFixed (dWorldID, dJointGroupID) |
| Create a new joint of the fixed type. More...
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ODE_API dJointID | dJointCreateAMotor (dWorldID, dJointGroupID) |
| Create a new joint of the A-motor type. More...
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ODE_API dJointID | dJointCreateLMotor (dWorldID, dJointGroupID) |
| Create a new joint of the L-motor type. More...
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ODE_API dJointID | dJointCreatePlane2D (dWorldID, dJointGroupID) |
| Create a new joint of the plane-2d type. More...
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ODE_API dJointID | dJointCreateDBall (dWorldID, dJointGroupID) |
| Create a new joint of the double ball type. More...
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ODE_API dJointID | dJointCreateDHinge (dWorldID, dJointGroupID) |
| Create a new joint of the double hinge type. More...
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ODE_API dJointID | dJointCreateTransmission (dWorldID, dJointGroupID) |
| Create a new joint of the Transmission type. More...
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ODE_API void | dJointDestroy (dJointID) |
| Destroy a joint.disconnects it from its attached bodies and removing it from the world. However, if the joint is a member of a group then this function has no effect - to destroy that joint the group must be emptied or destroyed.
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ODE_API dJointGroupID | dJointGroupCreate (int max_size) |
| Create a joint group. More...
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ODE_API void | dJointGroupDestroy (dJointGroupID) |
| Destroy a joint group.All joints in the joint group will be destroyed.
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ODE_API void | dJointGroupEmpty (dJointGroupID) |
| Empty a joint group.All joints in the joint group will be destroyed, but the joint group itself will not be destroyed.
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ODE_API int | dJointGetNumBodies (dJointID) |
| Return the number of bodies attached to the joint.
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ODE_API void | dJointAttach (dJointID, dBodyID body1, dBodyID body2) |
| Attach the joint to some new bodies.If the joint is already attached, it will be detached from the old bodies first. To attach this joint to only one body, set body1 or body2 to zero - a zero body refers to the static environment. Setting both bodies to zero puts the joint into "limbo", i.e. it will have no effect on the simulation. More...
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ODE_API void | dJointEnable (dJointID) |
| Manually enable a joint. More...
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ODE_API void | dJointDisable (dJointID) |
| Manually disable a joint. More...
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ODE_API int | dJointIsEnabled (dJointID) |
| Check wether a joint is enabled. More...
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ODE_API void | dJointSetData (dJointID, void *data) |
| Set the user-data pointer.
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ODE_API void * | dJointGetData (dJointID) |
| Get the user-data pointer.
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ODE_API dJointType | dJointGetType (dJointID) |
| Get the type of the joint. More...
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ODE_API dBodyID | dJointGetBody (dJointID, int index) |
| Return the bodies that this joint connects. More...
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ODE_API void | dJointSetFeedback (dJointID, dJointFeedback *) |
| Sets the datastructure that is to receive the feedback. More...
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ODE_API dJointFeedback * | dJointGetFeedback (dJointID) |
| Gets the datastructure that is to receive the feedback.
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ODE_API void | dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z) |
| Set the joint anchor point.The joint will try to keep this point on each body together. The input is specified in world coordinates.
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ODE_API void | dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z) |
| Set the joint anchor point.
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ODE_API void | dJointSetBallParam (dJointID, int parameter, dReal value) |
| Param setting for Ball joints.
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ODE_API void | dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z) |
| Set hinge anchor parameter.
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ODE_API void | dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z) |
| Set hinge axis.
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ODE_API void | dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle) |
| Set the Hinge axis as if the 2 bodies were already at angle appart.This function initialize the Axis and the relative orientation of each body as if body1 was rotated around the axis by the angle value. Ex: More...
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ODE_API void | dJointSetHingeParam (dJointID, int parameter, dReal value) |
| set joint parameter
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ODE_API void | dJointAddHingeTorque (dJointID joint, dReal torque) |
| Applies the torque about the hinge axis. More...
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ODE_API void | dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z) |
| set the joint axis
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ODE_API void | dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az) |
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ODE_API void | dJointSetSliderParam (dJointID, int parameter, dReal value) |
| set joint parameter
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ODE_API void | dJointAddSliderForce (dJointID joint, dReal force) |
| Applies the given force in the slider's direction. More...
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ODE_API void | dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z) |
| set anchor
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ODE_API void | dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z) |
| set axis
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ODE_API void | dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z) |
| set axis
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ODE_API void | dJointSetHinge2Param (dJointID, int parameter, dReal value) |
| set joint parameter
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ODE_API void | dJointAddHinge2Torques (dJointID joint, dReal torque1, dReal torque2) |
| Applies torque1 about the hinge2's axis 1, torque2 about the hinge2's axis 2. More...
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ODE_API void | dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z) |
| set anchor
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ODE_API void | dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z) |
| set axis
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ODE_API void | dJointSetUniversalAxis1Offset (dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2) |
| Set the Universal axis1 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.This function initialize the axis1 and the relative orientation of each body as if body1 was rotated around the new axis1 by the offset1 value and as if body2 was rotated around the axis2 by offset2. Ex: More...
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ODE_API void | dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z) |
| set axis
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ODE_API void | dJointSetUniversalAxis2Offset (dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2) |
| Set the Universal axis2 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.This function initialize the axis2 and the relative orientation of each body as if body1 was rotated around the axis1 by the offset1 value and as if body2 was rotated around the new axis2 by offset2. Ex: More...
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ODE_API void | dJointSetUniversalParam (dJointID, int parameter, dReal value) |
| set joint parameter
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ODE_API void | dJointAddUniversalTorques (dJointID joint, dReal torque1, dReal torque2) |
| Applies torque1 about the universal's axis 1, torque2 about the universal's axis 2. More...
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ODE_API void | dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z) |
| set anchor
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ODE_API void | dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z) |
| set the axis for the prismatic articulation
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ODE_API void | dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z) |
| set the axis for the rotoide articulation
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ODE_API void | dJointSetPRParam (dJointID, int parameter, dReal value) |
| set joint parameter More...
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ODE_API void | dJointAddPRTorque (dJointID j, dReal torque) |
| Applies the torque about the rotoide axis of the PR joint. More...
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ODE_API void | dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z) |
| set anchor
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ODE_API_DEPRECATED ODE_API void | dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz) |
| set anchor
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ODE_API void | dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz) |
| Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart.This function initialize the anchor and the relative position of each body as if the position between body1 and body2 was already the projection of [dx, dy, dz] along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the axis is set). Ex: More...
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ODE_API void | dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z) |
| set the axis for the first axis or the universal articulation
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ODE_API void | dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z) |
| set the axis for the second axis or the universal articulation
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ODE_API void | dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z) |
| set the axis for the prismatic articulation
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ODE_API void | dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z) |
| set the axis for the prismatic articulation More...
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ODE_API void | dJointSetPUParam (dJointID, int parameter, dReal value) |
| set joint parameter More...
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ODE_API void | dJointAddPUTorque (dJointID j, dReal torque) |
| Applies the torque about the rotoide axis of the PU joint. More...
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ODE_API void | dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z) |
| set the joint anchor
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ODE_API void | dJointSetPistonAnchorOffset (dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz) |
| Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart.This function initialize the anchor and the relative position of each body as if the position between body1 and body2 was already the projection of [dx, dy, dz] along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the axis is set). Ex: More...
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ODE_API void | dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z) |
| set the joint axis
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ODE_API_DEPRECATED ODE_API void | dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az) |
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ODE_API void | dJointSetPistonParam (dJointID, int parameter, dReal value) |
| set joint parameter
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ODE_API void | dJointAddPistonForce (dJointID joint, dReal force) |
| Applies the given force in the slider's direction. More...
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ODE_API void | dJointSetFixed (dJointID) |
| Call this on the fixed joint after it has been attached to remember the current desired relative offset and desired relative rotation between the bodies.
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ODE_API void | dJointSetAMotorNumAxes (dJointID, int num) |
| set the nr of axes More...
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ODE_API void | dJointSetAMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z) |
| set axis
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ODE_API void | dJointSetAMotorAngle (dJointID, int anum, dReal angle) |
| Tell the AMotor what the current angle is along axis anum. More...
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ODE_API void | dJointSetAMotorParam (dJointID, int parameter, dReal value) |
| set joint parameter
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ODE_API void | dJointSetAMotorMode (dJointID, int mode) |
| set mode
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ODE_API void | dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3) |
| Applies torque0 about the AMotor's axis 0, torque1 about the AMotor's axis 1, and torque2 about the AMotor's axis 2. More...
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ODE_API void | dJointSetLMotorNumAxes (dJointID, int num) |
| Set the number of axes that will be controlled by the LMotor. More...
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ODE_API void | dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z) |
| Set the AMotor axes. More...
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ODE_API void | dJointSetLMotorParam (dJointID, int parameter, dReal value) |
| set joint parameter
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ODE_API void | dJointSetPlane2DXParam (dJointID, int parameter, dReal value) |
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ODE_API void | dJointSetPlane2DYParam (dJointID, int parameter, dReal value) |
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ODE_API void | dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value) |
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ODE_API dReal | dJointGetBallParam (dJointID, int parameter) |
| get joint parameter
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ODE_API void | dJointGetHingeAnchor (dJointID, dVector3 result) |
| Get the hinge anchor point, in world coordinates. More...
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ODE_API void | dJointGetHingeAnchor2 (dJointID, dVector3 result) |
| Get the joint anchor point, in world coordinates. More...
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ODE_API void | dJointGetHingeAxis (dJointID, dVector3 result) |
| get axis
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ODE_API dReal | dJointGetHingeParam (dJointID, int parameter) |
| get joint parameter
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ODE_API dReal | dJointGetHingeAngle (dJointID) |
| Get the hinge angle. More...
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ODE_API dReal | dJointGetHingeAngleRate (dJointID) |
| Get the hinge angle time derivative.
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ODE_API dReal | dJointGetSliderPosition (dJointID) |
| Get the slider linear position (i.e. the slider's extension) More...
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ODE_API dReal | dJointGetSliderPositionRate (dJointID) |
| Get the slider linear position's time derivative.
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ODE_API void | dJointGetSliderAxis (dJointID, dVector3 result) |
| Get the slider axis.
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ODE_API dReal | dJointGetSliderParam (dJointID, int parameter) |
| get joint parameter
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ODE_API void | dJointGetHinge2Anchor (dJointID, dVector3 result) |
| Get the joint anchor point, in world coordinates. More...
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ODE_API void | dJointGetHinge2Anchor2 (dJointID, dVector3 result) |
| Get the joint anchor point, in world coordinates. This returns the point on body 2. If the joint is perfectly satisfied, this will return the same value as dJointGetHinge2Anchor. If not, this value will be slightly different. This can be used, for example, to see how far the joint has come apart.
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ODE_API void | dJointGetHinge2Axis1 (dJointID, dVector3 result) |
| Get joint axis.
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ODE_API void | dJointGetHinge2Axis2 (dJointID, dVector3 result) |
| Get joint axis.
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ODE_API dReal | dJointGetHinge2Param (dJointID, int parameter) |
| get joint parameter
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ODE_API dReal | dJointGetHinge2Angle1 (dJointID) |
| Get angle.
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ODE_API dReal | dJointGetHinge2Angle1Rate (dJointID) |
| Get time derivative of angle.
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ODE_API dReal | dJointGetHinge2Angle2Rate (dJointID) |
| Get time derivative of angle.
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ODE_API void | dJointGetUniversalAnchor (dJointID, dVector3 result) |
| Get the joint anchor point, in world coordinates. More...
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ODE_API void | dJointGetUniversalAnchor2 (dJointID, dVector3 result) |
| Get the joint anchor point, in world coordinates. More...
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ODE_API void | dJointGetUniversalAxis1 (dJointID, dVector3 result) |
| Get axis.
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ODE_API void | dJointGetUniversalAxis2 (dJointID, dVector3 result) |
| Get axis.
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ODE_API dReal | dJointGetUniversalParam (dJointID, int parameter) |
| get joint parameter
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ODE_API void | dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2) |
| Get both angles at the same time. More...
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ODE_API dReal | dJointGetUniversalAngle1 (dJointID) |
| Get angle.
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ODE_API dReal | dJointGetUniversalAngle2 (dJointID) |
| Get angle.
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ODE_API dReal | dJointGetUniversalAngle1Rate (dJointID) |
| Get time derivative of angle.
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ODE_API dReal | dJointGetUniversalAngle2Rate (dJointID) |
| Get time derivative of angle.
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ODE_API void | dJointGetPRAnchor (dJointID, dVector3 result) |
| Get the joint anchor point, in world coordinates. More...
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ODE_API dReal | dJointGetPRPosition (dJointID) |
| Get the PR linear position (i.e. the prismatic's extension) More...
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ODE_API dReal | dJointGetPRPositionRate (dJointID) |
| Get the PR linear position's time derivative.
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ODE_API dReal | dJointGetPRAngle (dJointID) |
| Get the PR angular position (i.e. the twist between the 2 bodies) More...
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ODE_API dReal | dJointGetPRAngleRate (dJointID) |
| Get the PR angular position's time derivative.
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ODE_API void | dJointGetPRAxis1 (dJointID, dVector3 result) |
| Get the prismatic axis.
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ODE_API void | dJointGetPRAxis2 (dJointID, dVector3 result) |
| Get the Rotoide axis.
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ODE_API dReal | dJointGetPRParam (dJointID, int parameter) |
| get joint parameter
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ODE_API void | dJointGetPUAnchor (dJointID, dVector3 result) |
| Get the joint anchor point, in world coordinates. More...
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ODE_API dReal | dJointGetPUPosition (dJointID) |
| Get the PU linear position (i.e. the prismatic's extension) More...
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ODE_API dReal | dJointGetPUPositionRate (dJointID) |
| Get the PR linear position's time derivative.
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ODE_API void | dJointGetPUAxis1 (dJointID, dVector3 result) |
| Get the first axis of the universal component of the joint.
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ODE_API void | dJointGetPUAxis2 (dJointID, dVector3 result) |
| Get the second axis of the Universal component of the joint.
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ODE_API void | dJointGetPUAxis3 (dJointID, dVector3 result) |
| Get the prismatic axis.
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ODE_API void | dJointGetPUAxisP (dJointID id, dVector3 result) |
| Get the prismatic axis. More...
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ODE_API void | dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2) |
| Get both angles at the same time. More...
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ODE_API dReal | dJointGetPUAngle1 (dJointID) |
| Get angle.
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ODE_API dReal | dJointGetPUAngle1Rate (dJointID) |
|
More...
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ODE_API dReal | dJointGetPUAngle2 (dJointID) |
| Get angle.
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ODE_API dReal | dJointGetPUAngle2Rate (dJointID) |
|
More...
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ODE_API dReal | dJointGetPUParam (dJointID, int parameter) |
| get joint parameter
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ODE_API dReal | dJointGetPistonPosition (dJointID) |
| Get the Piston linear position (i.e. the piston's extension) More...
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ODE_API dReal | dJointGetPistonPositionRate (dJointID) |
| Get the piston linear position's time derivative.
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ODE_API dReal | dJointGetPistonAngle (dJointID) |
| Get the Piston angular position (i.e. the twist between the 2 bodies) More...
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ODE_API dReal | dJointGetPistonAngleRate (dJointID) |
| Get the piston angular position's time derivative.
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ODE_API void | dJointGetPistonAnchor (dJointID, dVector3 result) |
| Get the joint anchor. More...
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ODE_API void | dJointGetPistonAnchor2 (dJointID, dVector3 result) |
| Get the joint anchor w.r.t. body 2. More...
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ODE_API void | dJointGetPistonAxis (dJointID, dVector3 result) |
| Get the prismatic axis (This is also the rotoide axis.
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ODE_API dReal | dJointGetPistonParam (dJointID, int parameter) |
| get joint parameter
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ODE_API int | dJointGetAMotorNumAxes (dJointID) |
| Get the number of angular axes that will be controlled by the AMotor. More...
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ODE_API void | dJointGetAMotorAxis (dJointID, int anum, dVector3 result) |
| Get the AMotor axes. More...
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ODE_API int | dJointGetAMotorAxisRel (dJointID, int anum) |
| Get axis. More...
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ODE_API dReal | dJointGetAMotorAngle (dJointID, int anum) |
| Get the current angle for axis. More...
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ODE_API dReal | dJointGetAMotorAngleRate (dJointID, int anum) |
| Get the current angle rate for axis anum. More...
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ODE_API dReal | dJointGetAMotorParam (dJointID, int parameter) |
| get joint parameter
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ODE_API int | dJointGetAMotorMode (dJointID) |
| Get the angular motor mode. More...
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ODE_API int | dJointGetLMotorNumAxes (dJointID) |
| Get nr of axes.
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ODE_API void | dJointGetLMotorAxis (dJointID, int anum, dVector3 result) |
| Get axis.
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ODE_API dReal | dJointGetLMotorParam (dJointID, int parameter) |
| get joint parameter
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ODE_API dReal | dJointGetFixedParam (dJointID, int parameter) |
| get joint parameter
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ODE_API void | dJointGetTransmissionContactPoint1 (dJointID, dVector3 result) |
| get the contact point of the first wheel of the Transmission joint.
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ODE_API void | dJointGetTransmissionContactPoint2 (dJointID, dVector3 result) |
| get contact point of the second wheel of the Transmission joint.
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ODE_API void | dJointSetTransmissionAxis1 (dJointID, dReal x, dReal y, dReal z) |
| set the first axis for the Transmission joint More...
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ODE_API void | dJointGetTransmissionAxis1 (dJointID, dVector3 result) |
| get first axis for the Transmission joint More...
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ODE_API void | dJointSetTransmissionAxis2 (dJointID, dReal x, dReal y, dReal z) |
| set second axis for the Transmission joint More...
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ODE_API void | dJointGetTransmissionAxis2 (dJointID, dVector3 result) |
| get second axis for the Transmission joint More...
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ODE_API void | dJointSetTransmissionAnchor1 (dJointID, dReal x, dReal y, dReal z) |
| set the first anchor for the Transmission joint More...
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ODE_API void | dJointGetTransmissionAnchor1 (dJointID, dVector3 result) |
| get the first anchor of the Transmission joint
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ODE_API void | dJointSetTransmissionAnchor2 (dJointID, dReal x, dReal y, dReal z) |
| set the second anchor for the Transmission joint More...
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ODE_API void | dJointGetTransmissionAnchor2 (dJointID, dVector3 result) |
| get the second anchor for the Transmission joint
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ODE_API void | dJointSetTransmissionParam (dJointID, int parameter, dReal value) |
| set a Transmission joint parameter
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ODE_API dReal | dJointGetTransmissionParam (dJointID, int parameter) |
| get a Transmission joint parameter
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ODE_API void | dJointSetTransmissionMode (dJointID j, int mode) |
| set the Transmission joint mode More...
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ODE_API int | dJointGetTransmissionMode (dJointID j) |
| get the Transmission joint mode
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ODE_API void | dJointSetTransmissionRatio (dJointID j, dReal ratio) |
| set the Transmission ratio More...
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ODE_API dReal | dJointGetTransmissionRatio (dJointID j) |
| get the Transmission joint ratio
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ODE_API void | dJointSetTransmissionAxis (dJointID j, dReal x, dReal y, dReal z) |
| set the common axis for both wheels of the Transmission joint More...
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ODE_API void | dJointGetTransmissionAxis (dJointID j, dVector3 result) |
| get the common axis for both wheels of the Transmission joint
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ODE_API dReal | dJointGetTransmissionAngle1 (dJointID j) |
| get the phase, that is the traversed angle for the first wheel of the Transmission joint
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ODE_API dReal | dJointGetTransmissionAngle2 (dJointID j) |
| get the phase, that is the traversed angle for the second wheel of the Transmission joint
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ODE_API dReal | dJointGetTransmissionRadius1 (dJointID j) |
| get the radius of the first wheel of the Transmission joint
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ODE_API dReal | dJointGetTransmissionRadius2 (dJointID j) |
| get the radius of the second wheel of the Transmission joint
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ODE_API void | dJointSetTransmissionRadius1 (dJointID j, dReal radius) |
| set the radius of the first wheel of the Transmission joint More...
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ODE_API void | dJointSetTransmissionRadius2 (dJointID j, dReal radius) |
| set the radius of the second wheel of the Transmission joint More...
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ODE_API dReal | dJointGetTransmissionBacklash (dJointID j) |
| get the backlash of the Transmission joint
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ODE_API void | dJointSetTransmissionBacklash (dJointID j, dReal backlash) |
| set the backlash of the Transmission joint More...
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ODE_API void | dJointSetDBallAnchor1 (dJointID, dReal x, dReal y, dReal z) |
| set anchor1 for double ball joint
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ODE_API void | dJointSetDBallAnchor2 (dJointID, dReal x, dReal y, dReal z) |
| set anchor2 for double ball joint
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ODE_API void | dJointGetDBallAnchor1 (dJointID, dVector3 result) |
| get anchor1 from double ball joint
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ODE_API void | dJointGetDBallAnchor2 (dJointID, dVector3 result) |
| get anchor2 from double ball joint
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ODE_API dReal | dJointGetDBallDistance (dJointID) |
| get the set distance from double ball joint
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ODE_API void | dJointSetDBallParam (dJointID, int parameter, dReal value) |
| set double ball joint parameter
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ODE_API dReal | dJointGetDBallParam (dJointID, int parameter) |
| get double ball joint parameter
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ODE_API void | dJointSetDHingeAxis (dJointID, dReal x, dReal y, dReal z) |
| set axis for double hinge joint
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ODE_API void | dJointGetDHingeAxis (dJointID, dVector3 result) |
| get axis for double hinge joint
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ODE_API void | dJointSetDHingeAnchor1 (dJointID, dReal x, dReal y, dReal z) |
| set anchor1 for double hinge joint
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ODE_API void | dJointSetDHingeAnchor2 (dJointID, dReal x, dReal y, dReal z) |
| set anchor2 for double hinge joint
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ODE_API void | dJointGetDHingeAnchor1 (dJointID, dVector3 result) |
| get anchor1 from double hinge joint
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ODE_API void | dJointGetDHingeAnchor2 (dJointID, dVector3 result) |
| get anchor2 from double hinge joint
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ODE_API dReal | dJointGetDHingeDistance (dJointID) |
| get the set distance from double hinge joint
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ODE_API void | dJointSetDHingeParam (dJointID, int parameter, dReal value) |
| set double hinge joint parameter
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ODE_API dReal | dJointGetDHingeParam (dJointID, int parameter) |
| get double hinge joint parameter
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ODE_API dJointID | dConnectingJoint (dBodyID, dBodyID) |
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ODE_API int | dConnectingJointList (dBodyID, dBodyID, dJointID *) |
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ODE_API int | dAreConnected (dBodyID, dBodyID) |
| Utility function. More...
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ODE_API int | dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type) |
| Utility function. More...
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In real life a joint is something like a hinge, that is used to connect two objects. In ODE a joint is very similar: It is a relationship that is enforced between two bodies so that they can only have certain positions and orientations relative to each other. This relationship is called a constraint – the words joint and constraint are often used interchangeably.
A joint has a set of parameters that can be set. These include:
If a particular parameter is not implemented by a given joint, setting it will have no effect. These parameter names can be optionally followed by a digit (2 or 3) to indicate the second or third set of parameters, e.g. for the second axis in a hinge-2 joint, or the third axis in an AMotor joint.