Open Dynamics Engine
include/ode/objects.h
1 /*************************************************************************
2  * *
3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4  * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5  * *
6  * This library is free software; you can redistribute it and/or *
7  * modify it under the terms of EITHER: *
8  * (1) The GNU Lesser General Public License as published by the Free *
9  * Software Foundation; either version 2.1 of the License, or (at *
10  * your option) any later version. The text of the GNU Lesser *
11  * General Public License is included with this library in the *
12  * file LICENSE.TXT. *
13  * (2) The BSD-style license that is included with this library in *
14  * the file LICENSE-BSD.TXT. *
15  * *
16  * This library is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19  * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20  * *
21  *************************************************************************/
22 
23 #ifndef _ODE_OBJECTS_H_
24 #define _ODE_OBJECTS_H_
25 
26 #include <ode/common.h>
27 #include <ode/mass.h>
28 #include <ode/contact.h>
29 #include <ode/threading.h>
30 
31 #ifdef __cplusplus
32 extern "C" {
33 #endif
34 
52 ODE_API dWorldID dWorldCreate(void);
53 
54 
64 ODE_API void dWorldDestroy (dWorldID world);
65 
66 
75 ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
76 
77 
82 ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity);
83 
84 
92 ODE_API void dWorldSetERP (dWorldID, dReal erp);
93 
99 ODE_API dReal dWorldGetERP (dWorldID);
100 
101 
109 ODE_API void dWorldSetCFM (dWorldID, dReal cfm);
110 
116 ODE_API dReal dWorldGetCFM (dWorldID);
117 
118 
119 #define dWORLDSTEP_THREADCOUNT_UNLIMITED 0U
120 
142 ODE_API void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count);
155 
197 ODE_API int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world/*=NULL*/);
198 
220 ODE_API void dWorldCleanupWorkingMemory(dWorldID w);
221 
222 
223 #define dWORLDSTEP_RESERVEFACTOR_DEFAULT 1.2f
224 #define dWORLDSTEP_RESERVESIZE_DEFAULT 65536U
225 
242 typedef struct
243 {
244  unsigned struct_size;
245  float reserve_factor; /* Use float as precision does not matter here*/
246  unsigned reserve_minimum;
247 
249 
275 ODE_API int dWorldSetStepMemoryReservationPolicy(dWorldID w, const dWorldStepReserveInfo *policyinfo/*=NULL*/);
276 
297 typedef struct
298 {
299  unsigned struct_size;
300  void *(*alloc_block)(size_t block_size);
301  void *(*shrink_block)(void *block_pointer, size_t block_current_size, size_t block_smaller_size);
302  void (*free_block)(void *block_pointer, size_t block_current_size);
303 
305 
331 
346 ODE_API void dWorldSetStepThreadingImplementation(dWorldID w, const dThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl);
347 
366 ODE_API int dWorldStep (dWorldID w, dReal stepsize);
367 
409 ODE_API int dWorldQuickStep (dWorldID w, dReal stepsize);
410 
411 
426 ODE_API void dWorldImpulseToForce
427 (
428  dWorldID, dReal stepsize,
429  dReal ix, dReal iy, dReal iz, dVector3 force
430  );
431 
432 
442 ODE_API void dWorldSetQuickStepNumIterations (dWorldID, int num);
443 
444 
452 
458 ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation);
459 
465 ODE_API dReal dWorldGetQuickStepW (dWorldID);
466 
467 /* World contact parameter functions */
468 
477 ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel);
478 
485 
497 ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth);
498 
504 ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID);
505 
506 
545 
551 ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold);
552 
559 
565 ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold);
566 
573 
579 ODE_API void dWorldSetAutoDisableLinearAverageThreshold (dWorldID, dReal linear_average_threshold);
580 
587 
593 ODE_API void dWorldSetAutoDisableAngularAverageThreshold (dWorldID, dReal angular_average_threshold);
594 
601 
608 ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count );
609 
615 ODE_API int dWorldGetAutoDisableSteps (dWorldID);
616 
622 ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps);
623 
629 ODE_API dReal dWorldGetAutoDisableTime (dWorldID);
630 
636 ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time);
637 
643 ODE_API int dWorldGetAutoDisableFlag (dWorldID);
644 
650 ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable);
651 
652 
692 ODE_API dReal dWorldGetLinearDampingThreshold (dWorldID w);
693 
700 ODE_API void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold);
701 
707 
714 ODE_API void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold);
715 
720 ODE_API dReal dWorldGetLinearDamping (dWorldID w);
721 
728 ODE_API void dWorldSetLinearDamping (dWorldID w, dReal scale);
729 
734 ODE_API dReal dWorldGetAngularDamping (dWorldID w);
735 
742 ODE_API void dWorldSetAngularDamping(dWorldID w, dReal scale);
743 
750 ODE_API void dWorldSetDamping(dWorldID w,
751  dReal linear_scale,
752  dReal angular_scale);
753 
759 ODE_API dReal dWorldGetMaxAngularSpeed (dWorldID w);
760 
761 
767 ODE_API void dWorldSetMaxAngularSpeed (dWorldID w, dReal max_speed);
768 
769 
770 
811 
817 ODE_API void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold);
818 
825 
831 ODE_API void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold);
832 
839 
845 ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count);
846 
847 
853 ODE_API int dBodyGetAutoDisableSteps (dBodyID);
854 
860 ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps);
861 
867 ODE_API dReal dBodyGetAutoDisableTime (dBodyID);
868 
874 ODE_API void dBodySetAutoDisableTime (dBodyID, dReal time);
875 
881 ODE_API int dBodyGetAutoDisableFlag (dBodyID);
882 
888 ODE_API void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable);
889 
896 ODE_API void dBodySetAutoDisableDefaults (dBodyID);
897 
898 
905 ODE_API dWorldID dBodyGetWorld (dBodyID);
906 
913 ODE_API dBodyID dBodyCreate (dWorldID);
914 
923 ODE_API void dBodyDestroy (dBodyID);
924 
930 ODE_API void dBodySetData (dBodyID, void *data);
931 
937 ODE_API void *dBodyGetData (dBodyID);
938 
947 ODE_API void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z);
948 
957 ODE_API void dBodySetRotation (dBodyID, const dMatrix3 R);
958 
967 ODE_API void dBodySetQuaternion (dBodyID, const dQuaternion q);
968 
973 ODE_API void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z);
974 
979 ODE_API void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
980 
990 ODE_API const dReal * dBodyGetPosition (dBodyID);
991 
992 
1000 ODE_API void dBodyCopyPosition (dBodyID body, dVector3 pos);
1001 
1002 
1008 ODE_API const dReal * dBodyGetRotation (dBodyID);
1009 
1010 
1018 ODE_API void dBodyCopyRotation (dBodyID, dMatrix3 R);
1019 
1020 
1026 ODE_API const dReal * dBodyGetQuaternion (dBodyID);
1027 
1028 
1036 ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat);
1037 
1038 
1043 ODE_API const dReal * dBodyGetLinearVel (dBodyID);
1044 
1049 ODE_API const dReal * dBodyGetAngularVel (dBodyID);
1050 
1055 ODE_API void dBodySetMass (dBodyID, const dMass *mass);
1056 
1061 ODE_API void dBodyGetMass (dBodyID, dMass *mass);
1062 
1067 ODE_API void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz);
1068 
1073 ODE_API void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz);
1074 
1079 ODE_API void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz);
1080 
1085 ODE_API void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz);
1086 
1091 ODE_API void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
1092  dReal px, dReal py, dReal pz);
1097 ODE_API void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
1098  dReal px, dReal py, dReal pz);
1103 ODE_API void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
1104  dReal px, dReal py, dReal pz);
1109 ODE_API void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
1110  dReal px, dReal py, dReal pz);
1111 
1121 ODE_API const dReal * dBodyGetForce (dBodyID);
1122 
1132 ODE_API const dReal * dBodyGetTorque (dBodyID);
1133 
1142 ODE_API void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z);
1143 
1152 ODE_API void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
1153 
1159 ODE_API void dBodyGetRelPointPos
1160 (
1161  dBodyID, dReal px, dReal py, dReal pz,
1162  dVector3 result
1163 );
1164 
1170 ODE_API void dBodyGetRelPointVel
1171 (
1172  dBodyID, dReal px, dReal py, dReal pz,
1173  dVector3 result
1174 );
1175 
1182 ODE_API void dBodyGetPointVel
1183 (
1184  dBodyID, dReal px, dReal py, dReal pz,
1185  dVector3 result
1186 );
1187 
1196 ODE_API void dBodyGetPosRelPoint
1197 (
1198  dBodyID, dReal px, dReal py, dReal pz,
1199  dVector3 result
1200 );
1201 
1207 ODE_API void dBodyVectorToWorld
1208 (
1209  dBodyID, dReal px, dReal py, dReal pz,
1210  dVector3 result
1211 );
1212 
1218 ODE_API void dBodyVectorFromWorld
1219 (
1220  dBodyID, dReal px, dReal py, dReal pz,
1221  dVector3 result
1222 );
1223 
1241 ODE_API void dBodySetFiniteRotationMode (dBodyID, int mode);
1242 
1259 ODE_API void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
1260 
1266 ODE_API int dBodyGetFiniteRotationMode (dBodyID);
1267 
1273 ODE_API void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
1274 
1280 ODE_API int dBodyGetNumJoints (dBodyID b);
1281 
1288 ODE_API dJointID dBodyGetJoint (dBodyID, int index);
1289 
1290 
1291 
1292 
1298 ODE_API void dBodySetDynamic (dBodyID);
1299 
1312 ODE_API void dBodySetKinematic (dBodyID);
1313 
1319 ODE_API int dBodyIsKinematic (dBodyID);
1320 
1326 ODE_API void dBodyEnable (dBodyID);
1327 
1335 ODE_API void dBodyDisable (dBodyID);
1336 
1342 ODE_API int dBodyIsEnabled (dBodyID);
1343 
1351 ODE_API void dBodySetGravityMode (dBodyID b, int mode);
1352 
1358 ODE_API int dBodyGetGravityMode (dBodyID b);
1359 
1373 ODE_API void dBodySetMovedCallback(dBodyID b, void (*callback)(dBodyID));
1374 
1375 
1385 ODE_API dGeomID dBodyGetFirstGeom (dBodyID b);
1386 
1387 
1395 ODE_API dGeomID dBodyGetNextGeom (dGeomID g);
1396 
1397 
1402 ODE_API void dBodySetDampingDefaults(dBodyID b);
1403 
1408 ODE_API dReal dBodyGetLinearDamping (dBodyID b);
1409 
1418 ODE_API void dBodySetLinearDamping(dBodyID b, dReal scale);
1419 
1426 ODE_API dReal dBodyGetAngularDamping (dBodyID b);
1427 
1436 ODE_API void dBodySetAngularDamping(dBodyID b, dReal scale);
1437 
1445 ODE_API void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale);
1446 
1451 ODE_API dReal dBodyGetLinearDampingThreshold (dBodyID b);
1452 
1459 ODE_API void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold);
1460 
1465 ODE_API dReal dBodyGetAngularDampingThreshold (dBodyID b);
1466 
1473 ODE_API void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold);
1474 
1480 ODE_API dReal dBodyGetMaxAngularSpeed (dBodyID b);
1481 
1490 ODE_API void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed);
1491 
1492 
1493 
1501 ODE_API int dBodyGetGyroscopicMode(dBodyID b);
1502 
1503 
1515 ODE_API void dBodySetGyroscopicMode(dBodyID b, int enabled);
1516 
1517 
1518 
1519 
1595 ODE_API dJointID dJointCreateBall (dWorldID, dJointGroupID);
1596 
1603 ODE_API dJointID dJointCreateHinge (dWorldID, dJointGroupID);
1604 
1611 ODE_API dJointID dJointCreateSlider (dWorldID, dJointGroupID);
1612 
1619 ODE_API dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
1620 
1627 ODE_API dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
1628 
1635 ODE_API dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
1636 
1643 ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID);
1644 
1651  ODE_API dJointID dJointCreatePU (dWorldID, dJointGroupID);
1652 
1660  ODE_API dJointID dJointCreatePiston (dWorldID, dJointGroupID);
1661 
1668 ODE_API dJointID dJointCreateFixed (dWorldID, dJointGroupID);
1669 
1670 ODE_API dJointID dJointCreateNull (dWorldID, dJointGroupID);
1671 
1678 ODE_API dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
1679 
1686 ODE_API dJointID dJointCreateLMotor (dWorldID, dJointGroupID);
1687 
1694 ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID);
1695 
1702 ODE_API dJointID dJointCreateDBall (dWorldID, dJointGroupID);
1703 
1710 ODE_API dJointID dJointCreateDHinge (dWorldID, dJointGroupID);
1711 
1718 ODE_API dJointID dJointCreateTransmission (dWorldID, dJointGroupID);
1719 
1720 
1729 ODE_API void dJointDestroy (dJointID);
1730 
1731 
1737 ODE_API dJointGroupID dJointGroupCreate (int max_size);
1738 
1745 ODE_API void dJointGroupDestroy (dJointGroupID);
1746 
1754 ODE_API void dJointGroupEmpty (dJointGroupID);
1755 
1760 ODE_API int dJointGetNumBodies(dJointID);
1761 
1775 ODE_API void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
1776 
1782 ODE_API void dJointEnable (dJointID);
1783 
1791 ODE_API void dJointDisable (dJointID);
1792 
1798 ODE_API int dJointIsEnabled (dJointID);
1799 
1804 ODE_API void dJointSetData (dJointID, void *data);
1805 
1810 ODE_API void *dJointGetData (dJointID);
1811 
1831 ODE_API dJointType dJointGetType (dJointID);
1832 
1843 ODE_API dBodyID dJointGetBody (dJointID, int index);
1844 
1852 ODE_API void dJointSetFeedback (dJointID, dJointFeedback *);
1853 
1858 ODE_API dJointFeedback *dJointGetFeedback (dJointID);
1859 
1867 ODE_API void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
1868 
1873 ODE_API void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z);
1874 
1879 ODE_API void dJointSetBallParam (dJointID, int parameter, dReal value);
1880 
1885 ODE_API void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
1886 
1887 ODE_API void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1888 
1893 ODE_API void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
1894 
1923 ODE_API void dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle);
1924 
1929 ODE_API void dJointSetHingeParam (dJointID, int parameter, dReal value);
1930 
1939 ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque);
1940 
1945 ODE_API void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
1946 
1950 ODE_API void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
1951 
1956 ODE_API void dJointSetSliderParam (dJointID, int parameter, dReal value);
1957 
1966 ODE_API void dJointAddSliderForce(dJointID joint, dReal force);
1967 
1972 ODE_API void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
1973 
1978 ODE_API void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
1979 
1984 ODE_API void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z);
1985 
1990 ODE_API void dJointSetHinge2Param (dJointID, int parameter, dReal value);
1991 
1998 ODE_API void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2);
1999 
2004 ODE_API void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
2005 
2010 ODE_API void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
2011 
2048 ODE_API void dJointSetUniversalAxis1Offset (dJointID, dReal x, dReal y, dReal z,
2049  dReal offset1, dReal offset2);
2050 
2055 ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
2056 
2095 ODE_API void dJointSetUniversalAxis2Offset (dJointID, dReal x, dReal y, dReal z,
2096  dReal offset1, dReal offset2);
2097 
2102 ODE_API void dJointSetUniversalParam (dJointID, int parameter, dReal value);
2103 
2110 ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2);
2111 
2112 
2117 ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z);
2118 
2123 ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z);
2124 
2129 ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z);
2130 
2137 ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value);
2138 
2147 ODE_API void dJointAddPRTorque (dJointID j, dReal torque);
2148 
2149 
2154  ODE_API void dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z);
2155 
2160  ODE_API_DEPRECATED ODE_API void dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z,
2161  dReal dx, dReal dy, dReal dz);
2162 
2192  ODE_API void dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z,
2193  dReal dx, dReal dy, dReal dz);
2194 
2199  ODE_API void dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z);
2200 
2205  ODE_API void dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z);
2206 
2211  ODE_API void dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z);
2212 
2219  ODE_API void dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z);
2220 
2221 
2222 
2232  ODE_API void dJointSetPUParam (dJointID, int parameter, dReal value);
2233 
2242  ODE_API void dJointAddPUTorque (dJointID j, dReal torque);
2243 
2244 
2245 
2246 
2251  ODE_API void dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z);
2252 
2282  ODE_API void dJointSetPistonAnchorOffset(dJointID j, dReal x, dReal y, dReal z,
2283  dReal dx, dReal dy, dReal dz);
2284 
2289  ODE_API void dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z);
2290 
2304  ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
2305 
2310  ODE_API void dJointSetPistonParam (dJointID, int parameter, dReal value);
2311 
2320  ODE_API void dJointAddPistonForce (dJointID joint, dReal force);
2321 
2322 
2329 ODE_API void dJointSetFixed (dJointID);
2330 
2331 /*
2332  * @brief Sets joint parameter
2333  *
2334  * @ingroup joints
2335  */
2336 ODE_API void dJointSetFixedParam (dJointID, int parameter, dReal value);
2337 
2343 ODE_API void dJointSetAMotorNumAxes (dJointID, int num);
2344 
2349 ODE_API void dJointSetAMotorAxis (dJointID, int anum, int rel,
2350  dReal x, dReal y, dReal z);
2351 
2361 ODE_API void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
2362 
2367 ODE_API void dJointSetAMotorParam (dJointID, int parameter, dReal value);
2368 
2373 ODE_API void dJointSetAMotorMode (dJointID, int mode);
2374 
2383 ODE_API void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3);
2384 
2390 ODE_API void dJointSetLMotorNumAxes (dJointID, int num);
2391 
2403 ODE_API void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z);
2404 
2409 ODE_API void dJointSetLMotorParam (dJointID, int parameter, dReal value);
2410 
2414 ODE_API void dJointSetPlane2DXParam (dJointID, int parameter, dReal value);
2415 
2420 ODE_API void dJointSetPlane2DYParam (dJointID, int parameter, dReal value);
2421 
2425 ODE_API void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value);
2426 
2433 ODE_API void dJointGetBallAnchor (dJointID, dVector3 result);
2434 
2445 ODE_API void dJointGetBallAnchor2 (dJointID, dVector3 result);
2446 
2451 ODE_API dReal dJointGetBallParam (dJointID, int parameter);
2452 
2460 ODE_API void dJointGetHingeAnchor (dJointID, dVector3 result);
2461 
2470 ODE_API void dJointGetHingeAnchor2 (dJointID, dVector3 result);
2471 
2476 ODE_API void dJointGetHingeAxis (dJointID, dVector3 result);
2477 
2482 ODE_API dReal dJointGetHingeParam (dJointID, int parameter);
2483 
2496 ODE_API dReal dJointGetHingeAngle (dJointID);
2497 
2502 ODE_API dReal dJointGetHingeAngleRate (dJointID);
2503 
2515 ODE_API dReal dJointGetSliderPosition (dJointID);
2516 
2521 ODE_API dReal dJointGetSliderPositionRate (dJointID);
2522 
2527 ODE_API void dJointGetSliderAxis (dJointID, dVector3 result);
2528 
2533 ODE_API dReal dJointGetSliderParam (dJointID, int parameter);
2534 
2541 ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result);
2542 
2551 ODE_API void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
2552 
2557 ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result);
2558 
2563 ODE_API void dJointGetHinge2Axis2 (dJointID, dVector3 result);
2564 
2569 ODE_API dReal dJointGetHinge2Param (dJointID, int parameter);
2570 
2575 ODE_API dReal dJointGetHinge2Angle1 (dJointID);
2576 
2581 ODE_API dReal dJointGetHinge2Angle1Rate (dJointID);
2582 
2587 ODE_API dReal dJointGetHinge2Angle2Rate (dJointID);
2588 
2595 ODE_API void dJointGetUniversalAnchor (dJointID, dVector3 result);
2596 
2610 ODE_API void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
2611 
2616 ODE_API void dJointGetUniversalAxis1 (dJointID, dVector3 result);
2617 
2622 ODE_API void dJointGetUniversalAxis2 (dJointID, dVector3 result);
2623 
2624 
2629 ODE_API dReal dJointGetUniversalParam (dJointID, int parameter);
2630 
2642 ODE_API void dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2);
2643 
2648 ODE_API dReal dJointGetUniversalAngle1 (dJointID);
2649 
2654 ODE_API dReal dJointGetUniversalAngle2 (dJointID);
2655 
2660 ODE_API dReal dJointGetUniversalAngle1Rate (dJointID);
2661 
2666 ODE_API dReal dJointGetUniversalAngle2Rate (dJointID);
2667 
2668 
2669 
2676 ODE_API void dJointGetPRAnchor (dJointID, dVector3 result);
2677 
2689 ODE_API dReal dJointGetPRPosition (dJointID);
2690 
2696 ODE_API dReal dJointGetPRPositionRate (dJointID);
2697 
2698 
2706 ODE_API dReal dJointGetPRAngle (dJointID);
2707 
2713 ODE_API dReal dJointGetPRAngleRate (dJointID);
2714 
2715 
2720 ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result);
2721 
2726 ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result);
2727 
2732 ODE_API dReal dJointGetPRParam (dJointID, int parameter);
2733 
2734 
2735 
2742  ODE_API void dJointGetPUAnchor (dJointID, dVector3 result);
2743 
2755  ODE_API dReal dJointGetPUPosition (dJointID);
2756 
2762  ODE_API dReal dJointGetPUPositionRate (dJointID);
2763 
2768  ODE_API void dJointGetPUAxis1 (dJointID, dVector3 result);
2769 
2774  ODE_API void dJointGetPUAxis2 (dJointID, dVector3 result);
2775 
2780  ODE_API void dJointGetPUAxis3 (dJointID, dVector3 result);
2781 
2789  ODE_API void dJointGetPUAxisP (dJointID id, dVector3 result);
2790 
2791 
2792 
2793 
2805  ODE_API void dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2);
2806 
2811  ODE_API dReal dJointGetPUAngle1 (dJointID);
2812 
2818  ODE_API dReal dJointGetPUAngle1Rate (dJointID);
2819 
2820 
2825  ODE_API dReal dJointGetPUAngle2 (dJointID);
2826 
2832  ODE_API dReal dJointGetPUAngle2Rate (dJointID);
2833 
2838  ODE_API dReal dJointGetPUParam (dJointID, int parameter);
2839 
2840 
2841 
2842 
2843 
2851  ODE_API dReal dJointGetPistonPosition (dJointID);
2852 
2857  ODE_API dReal dJointGetPistonPositionRate (dJointID);
2858 
2866  ODE_API dReal dJointGetPistonAngle (dJointID);
2867 
2872  ODE_API dReal dJointGetPistonAngleRate (dJointID);
2873 
2874 
2884  ODE_API void dJointGetPistonAnchor (dJointID, dVector3 result);
2885 
2899  ODE_API void dJointGetPistonAnchor2 (dJointID, dVector3 result);
2900 
2905  ODE_API void dJointGetPistonAxis (dJointID, dVector3 result);
2906 
2911  ODE_API dReal dJointGetPistonParam (dJointID, int parameter);
2912 
2913 
2922 ODE_API int dJointGetAMotorNumAxes (dJointID);
2923 
2933 ODE_API void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
2934 
2951 ODE_API int dJointGetAMotorAxisRel (dJointID, int anum);
2952 
2961 ODE_API dReal dJointGetAMotorAngle (dJointID, int anum);
2962 
2971 ODE_API dReal dJointGetAMotorAngleRate (dJointID, int anum);
2972 
2977 ODE_API dReal dJointGetAMotorParam (dJointID, int parameter);
2978 
2992 ODE_API int dJointGetAMotorMode (dJointID);
2993 
2998 ODE_API int dJointGetLMotorNumAxes (dJointID);
2999 
3004 ODE_API void dJointGetLMotorAxis (dJointID, int anum, dVector3 result);
3005 
3010 ODE_API dReal dJointGetLMotorParam (dJointID, int parameter);
3011 
3016 ODE_API dReal dJointGetFixedParam (dJointID, int parameter);
3017 
3018 
3023 ODE_API void dJointGetTransmissionContactPoint1(dJointID, dVector3 result);
3024 
3029 ODE_API void dJointGetTransmissionContactPoint2(dJointID, dVector3 result);
3030 
3040 ODE_API void dJointSetTransmissionAxis1(dJointID, dReal x, dReal y, dReal z);
3041 
3050 ODE_API void dJointGetTransmissionAxis1(dJointID, dVector3 result);
3051 
3062 ODE_API void dJointSetTransmissionAxis2(dJointID, dReal x, dReal y, dReal z);
3063 
3072 ODE_API void dJointGetTransmissionAxis2(dJointID, dVector3 result);
3073 
3080 ODE_API void dJointSetTransmissionAnchor1(dJointID, dReal x, dReal y, dReal z);
3081 
3086 ODE_API void dJointGetTransmissionAnchor1(dJointID, dVector3 result);
3087 
3094 ODE_API void dJointSetTransmissionAnchor2(dJointID, dReal x, dReal y, dReal z);
3095 
3100 ODE_API void dJointGetTransmissionAnchor2(dJointID, dVector3 result);
3101 
3106 ODE_API void dJointSetTransmissionParam(dJointID, int parameter, dReal value);
3107 
3112 ODE_API dReal dJointGetTransmissionParam(dJointID, int parameter);
3113 
3122 ODE_API void dJointSetTransmissionMode( dJointID j, int mode );
3123 
3128 ODE_API int dJointGetTransmissionMode( dJointID j );
3129 
3139 ODE_API void dJointSetTransmissionRatio( dJointID j, dReal ratio );
3140 
3145 ODE_API dReal dJointGetTransmissionRatio( dJointID j );
3146 
3157 ODE_API void dJointSetTransmissionAxis( dJointID j, dReal x, dReal y, dReal z );
3158 
3163 ODE_API void dJointGetTransmissionAxis( dJointID j, dVector3 result );
3164 
3170 ODE_API dReal dJointGetTransmissionAngle1( dJointID j );
3171 
3177 ODE_API dReal dJointGetTransmissionAngle2( dJointID j );
3178 
3183 ODE_API dReal dJointGetTransmissionRadius1( dJointID j );
3184 
3189 ODE_API dReal dJointGetTransmissionRadius2( dJointID j );
3190 
3198 ODE_API void dJointSetTransmissionRadius1( dJointID j, dReal radius );
3199 
3207 ODE_API void dJointSetTransmissionRadius2( dJointID j, dReal radius );
3208 
3213 ODE_API dReal dJointGetTransmissionBacklash( dJointID j );
3214 
3233 ODE_API void dJointSetTransmissionBacklash( dJointID j, dReal backlash );
3234 
3239 ODE_API void dJointSetDBallAnchor1(dJointID, dReal x, dReal y, dReal z);
3240 
3245 ODE_API void dJointSetDBallAnchor2(dJointID, dReal x, dReal y, dReal z);
3246 
3251 ODE_API void dJointGetDBallAnchor1(dJointID, dVector3 result);
3252 
3257 ODE_API void dJointGetDBallAnchor2(dJointID, dVector3 result);
3258 
3263 ODE_API dReal dJointGetDBallDistance(dJointID);
3264 
3269 ODE_API void dJointSetDBallParam(dJointID, int parameter, dReal value);
3270 
3275 ODE_API dReal dJointGetDBallParam(dJointID, int parameter);
3276 
3281 ODE_API void dJointSetDHingeAxis(dJointID, dReal x, dReal y, dReal z);
3282 
3287 ODE_API void dJointGetDHingeAxis(dJointID, dVector3 result);
3288 
3293 ODE_API void dJointSetDHingeAnchor1(dJointID, dReal x, dReal y, dReal z);
3294 
3299 ODE_API void dJointSetDHingeAnchor2(dJointID, dReal x, dReal y, dReal z);
3300 
3305 ODE_API void dJointGetDHingeAnchor1(dJointID, dVector3 result);
3306 
3311 ODE_API void dJointGetDHingeAnchor2(dJointID, dVector3 result);
3312 
3317 ODE_API dReal dJointGetDHingeDistance(dJointID);
3318 
3323 ODE_API void dJointSetDHingeParam(dJointID, int parameter, dReal value);
3324 
3329 ODE_API dReal dJointGetDHingeParam(dJointID, int parameter);
3330 
3331 
3332 
3333 
3337 ODE_API dJointID dConnectingJoint (dBodyID, dBodyID);
3338 
3342 ODE_API int dConnectingJointList (dBodyID, dBodyID, dJointID*);
3343 
3350 ODE_API int dAreConnected (dBodyID, dBodyID);
3351 
3365 ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type);
3366 
3367 
3368 #ifdef __cplusplus
3369 }
3370 #endif
3371 
3372 #endif
ODE_API dReal dBodyGetAngularDamping(dBodyID b)
Get the body's angular damping scale.
Definition: ode.cpp:1034
ODE_API dReal dJointGetUniversalAngle1Rate(dJointID)
Get time derivative of angle.
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...
ODE_API dReal dJointGetAMotorAngle(dJointID, int anum)
Get the current angle for axis.
ODE_API const dReal * dBodyGetAngularVel(dBodyID)
Get the angular velocity of a body.
Definition: ode.cpp:475
ODE_API void dWorldSetAngularDamping(dWorldID w, dReal scale)
Set the world's angular damping scale.
Definition: ode.cpp:1992
ODE_API dReal dJointGetPUPositionRate(dJointID)
Get the PR linear position's time derivative.
ODE_API dReal dWorldGetContactMaxCorrectingVel(dWorldID)
Get the maximum correcting velocity that contacts are allowed to generated.
Definition: ode.cpp:2061
ODE_API void dJointSetDBallParam(dJointID, int parameter, dReal value)
set double ball joint parameter
ODE_API void dBodyAddRelTorque(dBodyID, dReal fx, dReal fy, dReal fz)
Add torque at centre of mass of body in coordinates relative to body.
Definition: ode.cpp:542
ODE_API void dJointGetPistonAnchor2(dJointID, dVector3 result)
Get the joint anchor w.r.t. body 2.
ODE_API dReal dJointGetPUAngle1Rate(dJointID)
ODE_API void dBodyDisable(dBodyID)
Manually disable a body.
Definition: ode.cpp:854
ODE_API dReal dJointGetTransmissionAngle1(dJointID j)
get the phase, that is the traversed angle for the first wheel of the Transmission joint ...
ODE_API void dJointSetTransmissionAxis1(dJointID, dReal x, dReal y, dReal z)
set the first axis for the Transmission joint
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.
ODE_API int dBodyGetAutoDisableSteps(dBodyID)
Get auto steps a body must be thought of as idle to disable.
Definition: ode.cpp:951
ODE_API void dBodyEnable(dBodyID)
Manually enable a body.
Definition: ode.cpp:844
ODE_API dJointID dJointCreateLMotor(dWorldID, dJointGroupID)
Create a new joint of the L-motor type.
Definition: ode.cpp:1248
ODE_API int dAreConnectedExcluding(dBodyID body1, dBodyID body2, int joint_type)
Utility function.
Definition: ode.cpp:1558
ODE_API void dJointGetPUAngles(dJointID, dReal *angle1, dReal *angle2)
Get both angles at the same time.
ODE_API dReal dJointGetBallParam(dJointID, int parameter)
get joint parameter
ODE_API int dBodyGetAutoDisableFlag(dBodyID)
Get auto disable flag.
Definition: ode.cpp:979
ODE_API void dBodySetPosition(dBodyID, dReal x, dReal y, dReal z)
Set position of a body.
Definition: ode.cpp:345
ODE_API dReal dWorldGetAngularDamping(dWorldID w)
Get the world's angular damping scale.
Definition: ode.cpp:1986
ODE_API void dJointSetDBallAnchor2(dJointID, dReal x, dReal y, dReal z)
set anchor2 for double ball joint
ODE_API void dJointAddSliderForce(dJointID joint, dReal force)
Applies the given force in the slider's direction.
ODE_API int dBodyGetAutoDisableAverageSamplesCount(dBodyID)
Get auto disable average size (samples count).
Definition: ode.cpp:913
ODE_API dReal dJointGetDBallDistance(dJointID)
get the set distance from double ball joint
ODE_API dGeomID dBodyGetFirstGeom(dBodyID b)
Return the first geom associated with the body.
Definition: ode.cpp:1116
ODE_API dReal dJointGetUniversalAngle2(dJointID)
Get angle.
ODE_API void dBodyAddRelForce(dBodyID, dReal fx, dReal fy, dReal fz)
Add force at centre of mass of body in coordinates relative to body.
Definition: ode.cpp:527
ODE_API const dReal * dBodyGetLinearVel(dBodyID)
Get the linear velocity of a body.
Definition: ode.cpp:468
ODE_API dGeomID dBodyGetNextGeom(dGeomID g)
returns the next geom associated with the same body.
Definition: ode.cpp:1123
ODE_API dReal dJointGetPUParam(dJointID, int parameter)
get joint parameter
Definition: contact.h:99
ODE_API void dBodySetGyroscopicMode(dBodyID b, int enabled)
Enable/disable the body's gyroscopic term.
Definition: ode.cpp:1136
ODE_API void dJointGetTransmissionContactPoint2(dJointID, dVector3 result)
get contact point of the second wheel of the Transmission joint.
ODE_API void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold)
Set the body's angular damping threshold.
Definition: ode.cpp:1076
ODE_API void dWorldSetAutoDisableSteps(dWorldID, int steps)
Set auto disable steps for newly created bodies.
Definition: ode.cpp:1906
ODE_API dReal dJointGetTransmissionRadius1(dJointID j)
get the radius of the first wheel of the Transmission joint
ODE_API int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world)
Set the world to use shared working memory along with another world.
Definition: ode.cpp:1673
ODE_API dReal dJointGetTransmissionRadius2(dJointID j)
get the radius of the second wheel of the Transmission joint
ODE_API int dJointIsEnabled(dJointID)
Check wether a joint is enabled.
ODE_API void dBodySetAutoDisableAngularThreshold(dBodyID, dReal angular_average_threshold)
Set auto disable angular average threshold.
Definition: ode.cpp:906
ODE_API void dJointGroupDestroy(dJointGroupID)
Destroy a joint group.All joints in the joint group will be destroyed.
Definition: ode.cpp:1312
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 ...
ODE_API void dJointDisable(dJointID)
Manually disable a joint.
ODE_API void dWorldSetAutoDisableLinearAverageThreshold(dWorldID, dReal linear_average_threshold)
Set auto disable linear average threshold for newly created bodies.
ODE_API void dBodySetDynamic(dBodyID)
Set rigid body to dynamic state (default).
Definition: ode.cpp:824
ODE_API dReal dJointGetPUAngle2(dJointID)
Get angle.
ODE_API dReal dJointGetPRPositionRate(dJointID)
Get the PR linear position's time derivative.
ODE_API dReal dJointGetTransmissionParam(dJointID, int parameter)
get a Transmission joint parameter
ODE_API dReal dBodyGetLinearDampingThreshold(dBodyID b)
Get the body's linear damping threshold.
Definition: ode.cpp:1057
ODE_API void dJointSetAMotorNumAxes(dJointID, int num)
set the nr of axes
Memory reservation policy descriptor structure for world stepping functions.
Definition: include/ode/objects.h:242
ODE_API void dWorldSetContactSurfaceLayer(dWorldID, dReal depth)
Set the depth of the surface layer around all geometry objects.
Definition: ode.cpp:2068
ODE_API dReal dJointGetPistonAngle(dJointID)
Get the Piston angular position (i.e. the twist between the 2 bodies)
ODE_API void dBodySetFiniteRotationMode(dBodyID, int mode)
controls the way a body's orientation is updated at each timestep.
Definition: ode.cpp:759
ODE_API dReal dJointGetHinge2Angle2Rate(dJointID)
Get time derivative of angle.
ODE_API int dBodyGetNumJoints(dBodyID b)
Get the number of joints that are attached to this body.
Definition: ode.cpp:805
ODE_API dReal dBodyGetLinearDamping(dBodyID b)
Get the body's linear damping scale.
Definition: ode.cpp:1018
ODE_API void dJointSetPUAxis1(dJointID, dReal x, dReal y, dReal z)
set the axis for the first axis or the universal articulation
ODE_API void dBodyDestroy(dBodyID)
Destroy a body.
ODE_API void dWorldGetGravity(dWorldID, dVector3 gravity)
Get the gravity vector for a given world.
Definition: ode.cpp:1624
ODE_API void dBodySetAngularDamping(dBodyID b, dReal scale)
Set the body's angular damping scale.
Definition: ode.cpp:1040
ODE_API void dWorldSetGravity(dWorldID, dReal x, dReal y, dReal z)
Set the world's global gravity vector.
Definition: ode.cpp:1615
ODE_API dReal dJointGetPRAngleRate(dJointID)
Get the PR angular position's time derivative.
ODE_API unsigned dWorldGetStepIslandsProcessingMaxThreadCount(dWorldID w)
Get maximum threads that are allowed to be used for island stepping.
Definition: ode.cpp:1667
ODE_API dReal dJointGetUniversalAngle1(dJointID)
Get angle.
ODE_API void dJointSetHinge2Axis1(dJointID, dReal x, dReal y, dReal z)
set axis
ODE_API dReal dWorldGetAutoDisableAngularThreshold(dWorldID)
Get auto disable angular threshold for newly created bodies.
Definition: ode.cpp:1871
ODE_API void dBodySetTorque(dBodyID b, dReal x, dReal y, dReal z)
Set the body torque accumulation vector.
Definition: ode.cpp:662
ODE_API dReal dWorldGetLinearDamping(dWorldID w)
Get the world's linear damping scale.
Definition: ode.cpp:1970
ODE_API void dJointSetPistonAxis(dJointID, dReal x, dReal y, dReal z)
set the joint axis
ODE_API void dJointSetAMotorAxis(dJointID, int anum, int rel, dReal x, dReal y, dReal z)
set axis
ODE_API dReal dJointGetHingeAngle(dJointID)
Get the hinge angle.
ODE_API void dJointSetData(dJointID, void *data)
Set the user-data pointer.
ODE_API int dBodyIsKinematic(dBodyID)
Check wether a body is in kinematic state.
Definition: ode.cpp:838
ODE_API_DEPRECATED ODE_API void dJointSetPUAnchorDelta(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz)
set anchor
ODE_API int dWorldSetStepMemoryReservationPolicy(dWorldID w, const dWorldStepReserveInfo *policyinfo)
Set memory reservation policy for world to be used with simulation stepping functions.
Definition: ode.cpp:1729
ODE_API void dJointGetPUAxis1(dJointID, dVector3 result)
Get the first axis of the universal component of the joint.
ODE_API dJointID dJointCreatePR(dWorldID, dJointGroupID)
Create a new joint of the PR (Prismatic and Rotoide) type.
Definition: ode.cpp:1210
ODE_API int dJointGetTransmissionMode(dJointID j)
get the Transmission joint mode
ODE_API void dWorldDestroy(dWorldID world)
Destroy a world and everything in it.
ODE_API void dWorldSetContactMaxCorrectingVel(dWorldID, dReal vel)
Set the maximum correcting velocity that contacts are allowed to generate.
Definition: ode.cpp:2054
World stepping memory manager descriptor structure.
Definition: include/ode/objects.h:297
ODE_API dReal dJointGetPUPosition(dJointID)
Get the PU linear position (i.e. the prismatic's extension)
ODE_API int dWorldGetAutoDisableFlag(dWorldID)
Get auto disable flag for newly created bodies.
Definition: ode.cpp:1927
ODE_API void dBodySetDampingDefaults(dBodyID b)
Resets the damping settings to the current world's settings.
Definition: ode.cpp:1082
ODE_API void dJointGetPistonAnchor(dJointID, dVector3 result)
Get the joint anchor.
ODE_API dReal dWorldGetAutoDisableTime(dWorldID)
Get auto disable time for newly created bodies.
Definition: ode.cpp:1913
ODE_API dReal dJointGetPRPosition(dJointID)
Get the PR linear position (i.e. the prismatic's extension)
ODE_API const dReal * dBodyGetForce(dBodyID)
Return the current accumulated force vector.
Definition: ode.cpp:639
ODE_API void dJointGetUniversalAxis2(dJointID, dVector3 result)
Get axis.
ODE_API dJointType dJointGetType(dJointID)
Get the type of the joint.
ODE_API dReal dJointGetTransmissionRatio(dJointID j)
get the Transmission joint ratio
ODE_API void dJointSetUniversalAnchor(dJointID, dReal x, dReal y, dReal z)
set anchor
ODE_API void * dJointGetData(dJointID)
Get the user-data pointer.
ODE_API dJointGroupID dJointGroupCreate(int max_size)
Create a joint group.
Definition: ode.cpp:1304
ODE_API void dJointGetDHingeAnchor1(dJointID, dVector3 result)
get anchor1 from double hinge joint
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 ...
ODE_API void dBodySetMovedCallback(dBodyID b, void(*callback)(dBodyID))
Set the 'moved' callback of a body.
Definition: ode.cpp:1109
ODE_API dJointID dJointCreateSlider(dWorldID, dJointGroupID)
Create a new joint of the slider type.
Definition: ode.cpp:1179
ODE_API void dBodySetLinearVel(dBodyID, dReal x, dReal y, dReal z)
Set the linear velocity of a body.
Definition: ode.cpp:389
ODE_API void dJointSetPRParam(dJointID, int parameter, dReal value)
set joint parameter
ODE_API void dJointSetBallAnchor2(dJointID, dReal x, dReal y, dReal z)
Set the joint anchor point.
Definition: mass.h:88
ODE_API void dJointSetHingeAxis(dJointID, dReal x, dReal y, dReal z)
Set hinge axis.
ODE_API void dBodyAddRelForceAtRelPos(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
Add force at specified point in body in local coordinates.
Definition: ode.cpp:617
ODE_API void dJointGetHingeAnchor(dJointID, dVector3 result)
Get the hinge anchor point, in world coordinates.
ODE_API dJointID dJointCreateUniversal(dWorldID, dJointGroupID)
Create a new joint of the universal type.
Definition: ode.cpp:1204
ODE_API void dJointGetUniversalAxis1(dJointID, dVector3 result)
Get axis.
ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta(dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az)
ODE_API dReal dBodyGetAutoDisableLinearThreshold(dBodyID)
Get auto disable linear average threshold.
Definition: ode.cpp:885
ODE_API void dBodyGetPointVel(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
Get velocity vector in global coords of a globally specified point on a body.
Definition: ode.cpp:704
ODE_API void dWorldSetStepThreadingImplementation(dWorldID w, const dThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl)
Assign threading implementation to be used for [quick]stepping the world.
Definition: ode.cpp:1789
ODE_API void dWorldSetAutoDisableAverageSamplesCount(dWorldID, unsigned int average_samples_count)
Set auto disable average sample count for newly created bodies.
Definition: ode.cpp:1892
ODE_API dReal dJointGetHingeParam(dJointID, int parameter)
get joint parameter
ODE_API void dWorldSetAutoDisableTime(dWorldID, dReal time)
Set auto disable time for newly created bodies.
Definition: ode.cpp:1920
ODE_API int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs)
Set memory manager for world to be used with simulation stepping functions.
Definition: ode.cpp:1759
ODE_API void dJointSetUniversalAxis1(dJointID, dReal x, dReal y, dReal z)
set axis
ODE_API void dJointSetAMotorMode(dJointID, int mode)
set mode
ODE_API void dJointSetHingeAnchor(dJointID, dReal x, dReal y, dReal z)
Set hinge anchor parameter.
ODE_API void dBodySetQuaternion(dBodyID, const dQuaternion q)
Set the orientation of a body.
Definition: ode.cpp:373
ODE_API void dBodyGetFiniteRotationAxis(dBodyID, dVector3 result)
Get the finite rotation axis.
Definition: ode.cpp:796
ODE_API void dWorldSetERP(dWorldID, dReal erp)
Set the global ERP value, that controls how much error correction is performed in each time step...
Definition: ode.cpp:1633
ODE_API void dWorldSetQuickStepW(dWorldID, dReal over_relaxation)
Set the SOR over-relaxation parameter.
Definition: ode.cpp:2040
Definition: ode/src/objects.h:161
ODE_API void dJointSetPistonParam(dJointID, int parameter, dReal value)
set joint parameter
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 ol...
ODE_API dReal dJointGetUniversalAngle2Rate(dJointID)
Get time derivative of angle.
ODE_API void dWorldSetAutoDisableAngularAverageThreshold(dWorldID, dReal angular_average_threshold)
Set auto disable angular average threshold for newly created bodies.
ODE_API void dBodySetForce(dBodyID b, dReal x, dReal y, dReal z)
Set the body force accumulation vector.
Definition: ode.cpp:653
ODE_API void dJointGetHingeAnchor2(dJointID, dVector3 result)
Get the joint anchor point, in world coordinates.
ODE_API void dBodySetAutoDisableDefaults(dBodyID)
Set auto disable defaults.
Definition: ode.cpp:1006
ODE_API void dBodySetLinearDamping(dBodyID b, dReal scale)
Set the body's linear damping scale.
Definition: ode.cpp:1024
ODE_API void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale)
Convenience function to set linear and angular scales at once.
Definition: ode.cpp:1050
ODE_API int dJointGetLMotorNumAxes(dJointID)
Get nr of axes.
ODE_API dReal dWorldGetCFM(dWorldID)
Get the constraint force mixing value.
Definition: ode.cpp:1654
ODE_API dReal dWorldGetERP(dWorldID)
Get the error reduction parameter.
Definition: ode.cpp:1640
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.
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 A...
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...
ODE_API void dBodyVectorToWorld(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
Convert from local to world coordinates.
Definition: ode.cpp:733
ODE_API dJointID dJointCreatePiston(dWorldID, dJointGroupID)
Create a new joint of the Piston type.
Definition: ode.cpp:1222
ODE_API void dBodyCopyPosition(dBodyID body, dVector3 pos)
Copy the position of a body into a vector.
Definition: ode.cpp:414
ODE_API void dBodyGetPosRelPoint(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
takes a point in global coordinates and returns the point's position in body-relative coordinates...
Definition: ode.cpp:720
ODE_API void dBodyGetRelPointPos(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
Get world position of a relative point on body.
Definition: ode.cpp:671
ODE_API void dJointSetBallParam(dJointID, int parameter, dReal value)
Param setting for Ball joints.
ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat)
Copy the orientation of a body into a quaternion.
Definition: ode.cpp:457
ODE_API void dJointGetSliderAxis(dJointID, dVector3 result)
Get the slider axis.
ODE_API void dBodyAddTorque(dBodyID, dReal fx, dReal fy, dReal fz)
Add torque at centre of mass of body in absolute coordinates.
Definition: ode.cpp:518
ODE_API int dWorldGetQuickStepNumIterations(dWorldID)
Get the number of iterations that the QuickStep method performs per step.
Definition: ode.cpp:2033
ODE_API void dJointSetUniversalParam(dJointID, int parameter, dReal value)
set joint parameter
ODE_API void * dBodyGetData(dBodyID)
Get the body's user-data pointer.
Definition: ode.cpp:338
ODE_API void dBodySetGravityMode(dBodyID b, int mode)
Set whether the body is influenced by the world's gravity or not.
Definition: ode.cpp:868
ODE_API void dJointSetTransmissionAxis(dJointID j, dReal x, dReal y, dReal z)
set the common axis for both wheels of the Transmission joint
ODE_API void dBodySetAutoDisableAverageSamplesCount(dBodyID, unsigned int average_samples_count)
Set auto disable average buffer size (average steps).
Definition: ode.cpp:920
ODE_API void dBodyVectorFromWorld(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
Convert from world to local coordinates.
Definition: ode.cpp:746
ODE_API void dJointSetPistonAnchor(dJointID, dReal x, dReal y, dReal z)
set the joint anchor
ODE_API void dJointSetFeedback(dJointID, dJointFeedback *)
Sets the datastructure that is to receive the feedback.
ODE_API void dJointSetTransmissionRatio(dJointID j, dReal ratio)
set the Transmission ratio
ODE_API void dJointSetAMotorAngle(dJointID, int anum, dReal angle)
Tell the AMotor what the current angle is along axis anum.
ODE_API void dJointGetTransmissionAxis1(dJointID, dVector3 result)
get first axis for the Transmission joint
ODE_API dReal dJointGetPistonAngleRate(dJointID)
Get the piston angular position's time derivative.
ODE_API void dJointSetTransmissionMode(dJointID j, int mode)
set the Transmission joint mode
ODE_API void dBodyAddRelForceAtPos(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
Add force at specified point in body in global coordinates.
Definition: ode.cpp:596
ODE_API void dJointGetTransmissionAnchor2(dJointID, dVector3 result)
get the second anchor for the Transmission joint
ODE_API dReal dJointGetPRAngle(dJointID)
Get the PR angular position (i.e. the twist between the 2 bodies)
ODE_API dReal dJointGetSliderPosition(dJointID)
Get the slider linear position (i.e. the slider's extension)
ODE_API dReal dJointGetLMotorParam(dJointID, int parameter)
get joint parameter
ODE_API dReal dBodyGetAngularDampingThreshold(dBodyID b)
Get the body's angular damping threshold.
Definition: ode.cpp:1070
ODE_API void dBodyGetRelPointVel(dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
Get velocity vector in global coords of a relative point on body.
Definition: ode.cpp:687
ODE_API dReal dWorldGetAutoDisableLinearThreshold(dWorldID)
Get auto disable linear threshold for newly created bodies.
Definition: ode.cpp:1857
ODE_API void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed)
Set the body's maximum angular speed.
Definition: ode.cpp:1099
ODE_API void dJointGetPRAnchor(dJointID, dVector3 result)
Get the joint anchor point, in world coordinates.
ODE_API void dBodyCopyRotation(dBodyID, dMatrix3 R)
Copy the rotation of a body.
Definition: ode.cpp:431
ODE_API int dJointGetAMotorMode(dJointID)
Get the angular motor mode.
ODE_API dReal dJointGetAMotorParam(dJointID, int parameter)
get joint parameter
ODE_API void dJointSetPUParam(dJointID, int parameter, dReal value)
set joint parameter
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...
ODE_API void dJointSetHinge2Anchor(dJointID, dReal x, dReal y, dReal z)
set anchor
ODE_API dJointID dJointCreateContact(dWorldID, dJointGroupID, const dContact *)
Create a new joint of the contact type.
Definition: ode.cpp:1186
ODE_API dReal dJointGetSliderParam(dJointID, int parameter)
get joint parameter
ODE_API dReal dJointGetHinge2Param(dJointID, int parameter)
get joint parameter
ODE_API void dBodySetAutoDisableFlag(dBodyID, int do_auto_disable)
Set auto disable flag.
Definition: ode.cpp:986
ODE_API void dJointSetHinge2Axis2(dJointID, dReal x, dReal y, dReal z)
set axis
ODE_API int dJointGetAMotorNumAxes(dJointID)
Get the number of angular axes that will be controlled by the AMotor.
ODE_API dReal dJointGetAMotorAngleRate(dJointID, int anum)
Get the current angle rate for axis anum.
ODE_API dJointID dJointCreateDBall(dWorldID, dJointGroupID)
Create a new joint of the double ball type.
Definition: ode.cpp:1260
ODE_API dWorldID dBodyGetWorld(dBodyID)
Retrieves the world attached to te given body.
ODE_API void dJointSetTransmissionRadius2(dJointID j, dReal radius)
set the radius of the second wheel of the Transmission joint
ODE_API void dWorldSetQuickStepNumIterations(dWorldID, int num)
Set the number of iterations that the QuickStep method performs per step.
Definition: ode.cpp:2026
ODE_API dReal dWorldGetQuickStepW(dWorldID)
Get the SOR over-relaxation parameter.
Definition: ode.cpp:2047
Definition: ode/src/objects.h:131
ODE_API void dJointAddPRTorque(dJointID j, dReal torque)
Applies the torque about the rotoide axis of the PR joint.
ODE_API int dWorldStep(dWorldID w, dReal stepsize)
Step the world.
Definition: ode.cpp:1803
ODE_API dReal dJointGetDHingeParam(dJointID, int parameter)
get double hinge joint parameter
ODE_API void dWorldSetLinearDamping(dWorldID w, dReal scale)
Set the world's linear damping scale.
Definition: ode.cpp:1976
ODE_API void dJointGetTransmissionAxis(dJointID j, dVector3 result)
get the common axis for both wheels of the Transmission joint
ODE_API dReal dJointGetFixedParam(dJointID, int parameter)
get joint parameter
ODE_API void dBodyAddForce(dBodyID, dReal fx, dReal fy, dReal fz)
Add force at centre of mass of body in absolute coordinates.
Definition: ode.cpp:509
ODE_API int dWorldQuickStep(dWorldID w, dReal stepsize)
Quick-step the world.
Definition: ode.cpp:1822
ODE_API int dBodyGetFiniteRotationMode(dBodyID)
Get the way a body's orientation is updated each timestep.
Definition: ode.cpp:789
ODE_API void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold)
Set the body's linear damping threshold.
Definition: ode.cpp:1063
ODE_API void dJointGetUniversalAnchor2(dJointID, dVector3 result)
Get the joint anchor point, in world coordinates.
ODE_API void dJointGetPUAnchor(dJointID, dVector3 result)
Get the joint anchor point, in world coordinates.
ODE_API dReal dJointGetDHingeDistance(dJointID)
get the set distance from double hinge joint
ODE_API dJointFeedback * dJointGetFeedback(dJointID)
Gets the datastructure that is to receive the feedback.
ODE_API void dJointSetPRAnchor(dJointID, dReal x, dReal y, dReal z)
set anchor
ODE_API void dJointGetPRAxis1(dJointID, dVector3 result)
Get the prismatic axis.
ODE_API void dJointSetDBallAnchor1(dJointID, dReal x, dReal y, dReal z)
set anchor1 for double ball joint
ODE_API void dBodySetMass(dBodyID, const dMass *mass)
Set the mass of a body.
Definition: ode.cpp:482
ODE_API void dJointAddPistonForce(dJointID joint, dReal force)
Applies the given force in the slider's direction.
ODE_API void dJointGetTransmissionContactPoint1(dJointID, dVector3 result)
get the contact point of the first wheel of the Transmission joint.
ODE_API void dJointGetAMotorAxis(dJointID, int anum, dVector3 result)
Get the AMotor axes.
ODE_API int dWorldGetAutoDisableAverageSamplesCount(dWorldID)
Get auto disable sample count for newly created bodies.
Definition: ode.cpp:1885
ODE_API dReal dJointGetSliderPositionRate(dJointID)
Get the slider linear position's time derivative.
ODE_API void dJointGetHinge2Anchor(dJointID, dVector3 result)
Get the joint anchor point, in world coordinates.
ODE_API void dBodyAddForceAtRelPos(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
Add force at specified point in body in local coordinates.
Definition: ode.cpp:575
ODE_API void dJointSetDHingeAnchor2(dJointID, dReal x, dReal y, dReal z)
set anchor2 for double hinge joint
ODE_API void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count)
Set maximum threads to be used for island stepping.
Definition: ode.cpp:1661
ODE_API void dJointSetTransmissionRadius1(dJointID j, dReal radius)
set the radius of the first wheel of the Transmission joint
ODE_API dJointID dJointCreateHinge2(dWorldID, dJointGroupID)
Create a new joint of the hinge2 type.
Definition: ode.cpp:1197
ODE_API void dJointEnable(dJointID)
Manually enable a joint.
ODE_API void dJointAddPUTorque(dJointID j, dReal torque)
Applies the torque about the rotoide axis of the PU joint.
ODE_API dReal dJointGetHingeAngleRate(dJointID)
Get the hinge angle time derivative.
ODE_API int dJointGetAMotorAxisRel(dJointID, int anum)
Get axis.
ODE_API dJointID dJointCreateTransmission(dWorldID, dJointGroupID)
Create a new joint of the Transmission type.
Definition: ode.cpp:1273
ODE_API void dJointSetFixed(dJointID)
Call this on the fixed joint after it has been attached to remember the current desired relative offs...
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.
ODE_API void dJointSetPUAxisP(dJointID id, dReal x, dReal y, dReal z)
set the axis for the prismatic articulation
ODE_API dReal dWorldGetLinearDampingThreshold(dWorldID w)
Get the world's linear damping threshold.
Definition: ode.cpp:1946
ODE_API void dJointSetPRAxis1(dJointID, dReal x, dReal y, dReal z)
set the axis for the prismatic articulation
ODE_API dReal dBodyGetAutoDisableTime(dBodyID)
Get auto disable time.
Definition: ode.cpp:965
ODE_API void dBodySetFiniteRotationAxis(dBodyID, dReal x, dReal y, dReal z)
sets the finite rotation axis for a body.
Definition: ode.cpp:773
ODE_API void dBodyGetMass(dBodyID, dMass *mass)
Get the mass of a body.
Definition: ode.cpp:502
ODE_API void dBodySetKinematic(dBodyID)
Set rigid body to kinematic state. When in kinematic state the body isn't simulated as a dynamic body...
Definition: ode.cpp:831
ODE_API dReal dWorldGetAngularDampingThreshold(dWorldID w)
Get the world's angular damping threshold.
Definition: ode.cpp:1958
ODE_API dJointID dJointCreateDHinge(dWorldID, dJointGroupID)
Create a new joint of the double hinge type.
Definition: ode.cpp:1266
ODE_API void dJointGetPistonAxis(dJointID, dVector3 result)
Get the prismatic axis (This is also the rotoide axis.
ODE_API dJointID dJointCreateHinge(dWorldID, dJointGroupID)
Create a new joint of the hinge type.
Definition: ode.cpp:1172
ODE_API void dJointGetTransmissionAxis2(dJointID, dVector3 result)
get second axis for the Transmission joint
ODE_API void dJointSetAMotorParam(dJointID, int parameter, dReal value)
set joint parameter
ODE_API dReal dWorldGetAutoDisableAngularAverageThreshold(dWorldID)
Get auto disable angular average threshold for newly created bodies.
ODE_API void dJointSetTransmissionAnchor1(dJointID, dReal x, dReal y, dReal z)
set the first anchor for the Transmission joint
ODE_API int dWorldGetAutoDisableSteps(dWorldID)
Get auto disable steps for newly created bodies.
Definition: ode.cpp:1899
ODE_API void dJointGetLMotorAxis(dJointID, int anum, dVector3 result)
Get axis.
ODE_API void dJointGroupEmpty(dJointGroupID)
Empty a joint group.All joints in the joint group will be destroyed, but the joint group itself will ...
Definition: ode.cpp:1319
ODE_API void dJointSetTransmissionBacklash(dJointID j, dReal backlash)
set the backlash of the Transmission joint
Definition: collision_kernel.h:96
ODE_API void dJointSetPUAxis3(dJointID, dReal x, dReal y, dReal z)
set the axis for the prismatic articulation
ODE_API void dJointSetLMotorNumAxes(dJointID, int num)
Set the number of axes that will be controlled by the LMotor.
ODE_API void dJointGetPUAxis3(dJointID, dVector3 result)
Get the prismatic axis.
ODE_API dJointID dJointCreatePU(dWorldID, dJointGroupID)
Create a new joint of the PU (Prismatic and Universal) type.
Definition: ode.cpp:1216
ODE_API const dReal * dBodyGetTorque(dBodyID)
Return the current accumulated torque vector.
Definition: ode.cpp:646
ODE_API void dJointSetDHingeParam(dJointID, int parameter, dReal value)
set double hinge joint parameter
ODE_API void dJointGetPRAxis2(dJointID, dVector3 result)
Get the Rotoide axis.
ODE_API void dJointSetTransmissionParam(dJointID, int parameter, dReal value)
set a Transmission joint parameter
ODE_API dJointID dJointCreateFixed(dWorldID, dJointGroupID)
Create a new joint of the fixed type.
Definition: ode.cpp:1228
ODE_API void dWorldSetAutoDisableAngularThreshold(dWorldID, dReal angular_threshold)
Set auto disable angular threshold for newly created bodies.
Definition: ode.cpp:1878
ODE_API void dJointSetLMotorAxis(dJointID, int anum, int rel, dReal x, dReal y, dReal z)
Set the AMotor axes.
ODE_API dReal dJointGetPRParam(dJointID, int parameter)
get joint parameter
ODE_API void dJointGetTransmissionAnchor1(dJointID, dVector3 result)
get the first anchor of the Transmission joint
ODE_API dReal dJointGetUniversalParam(dJointID, int parameter)
get joint parameter
ODE_API dReal dJointGetTransmissionAngle2(dJointID j)
get the phase, that is the traversed angle for the second wheel of the Transmission joint ...
ODE_API dJointID dJointCreateAMotor(dWorldID, dJointGroupID)
Create a new joint of the A-motor type.
Definition: ode.cpp:1242
ODE_API void dJointGetDHingeAnchor2(dJointID, dVector3 result)
get anchor2 from double hinge joint
Definition: common.h:335
ODE_API void dBodySetAutoDisableSteps(dBodyID, int steps)
Set auto disable steps.
Definition: ode.cpp:958
ODE_API void dJointSetPRAxis2(dJointID, dReal x, dReal y, dReal z)
set the axis for the rotoide articulation
ODE_API void dJointSetDHingeAnchor1(dJointID, dReal x, dReal y, dReal z)
set anchor1 for double hinge joint
ODE_API const dReal * dBodyGetRotation(dBodyID)
Get the rotation of a body.
Definition: ode.cpp:424
ODE_API void dWorldSetAutoDisableLinearThreshold(dWorldID, dReal linear_threshold)
Set auto disable linear threshold for newly created bodies.
Definition: ode.cpp:1864
ODE_API void dJointGetDHingeAxis(dJointID, dVector3 result)
get axis for double hinge joint
ODE_API void dJointGetHinge2Axis2(dJointID, dVector3 result)
Get joint axis.
ODE_API void dJointGetHinge2Axis1(dJointID, dVector3 result)
Get joint axis.
ODE_API dReal dJointGetHinge2Angle1Rate(dJointID)
Get time derivative of angle.
ODE_API void dWorldCleanupWorkingMemory(dWorldID w)
Release internal working memory allocated for world.
Definition: ode.cpp:1717
ODE_API dJointID dJointCreatePlane2D(dWorldID, dJointGroupID)
Create a new joint of the plane-2d type.
Definition: ode.cpp:1254
ODE_API int dAreConnected(dBodyID, dBodyID)
Utility function.
Definition: ode.cpp:1547
ODE_API void dJointSetHinge2Param(dJointID, int parameter, dReal value)
set joint parameter
ODE_API dBodyID dJointGetBody(dJointID, int index)
Return the bodies that this joint connects.
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.
ODE_API dReal dJointGetPistonPositionRate(dJointID)
Get the piston linear position's time derivative.
ODE_API void dBodySetData(dBodyID, void *data)
Set the body's user-data pointer.
Definition: ode.cpp:331
ODE_API void dBodySetAutoDisableLinearThreshold(dBodyID, dReal linear_average_threshold)
Set auto disable linear average threshold.
Definition: ode.cpp:892
ODE_API void dWorldImpulseToForce(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force)
Converts an impulse to a force.
Definition: ode.cpp:1842
ODE_API void dBodySetAngularVel(dBodyID, dReal x, dReal y, dReal z)
Set the angular velocity of a body.
Definition: ode.cpp:398
ODE_API void dBodySetAutoDisableTime(dBodyID, dReal time)
Set auto disable time.
Definition: ode.cpp:972
ODE_API void dJointSetSliderParam(dJointID, int parameter, dReal value)
set joint parameter
ODE_API dReal dJointGetTransmissionBacklash(dJointID j)
get the backlash of the Transmission joint
ODE_API void dJointSetDHingeAxis(dJointID, dReal x, dReal y, dReal z)
set axis for double hinge joint
ODE_API void dJointSetUniversalAxis2(dJointID, dReal x, dReal y, dReal z)
set axis
ODE_API dJointID dJointCreateBall(dWorldID, dJointGroupID)
Create a new joint of the ball type.
Definition: ode.cpp:1165
ODE_API dReal dJointGetPistonParam(dJointID, int parameter)
get joint parameter
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.
ODE_API void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold)
Set the world's linear damping threshold.
Definition: ode.cpp:1952
ODE_API void dJointSetPUAxis2(dJointID, dReal x, dReal y, dReal z)
set the axis for the second axis or the universal articulation
ODE_API dReal dJointGetPistonPosition(dJointID)
Get the Piston linear position (i.e. the piston's extension)
ODE_API dReal dJointGetPUAngle1(dJointID)
Get angle.
ODE_API void dJointSetPUAnchor(dJointID, dReal x, dReal y, dReal z)
set anchor
ODE_API dReal dJointGetDBallParam(dJointID, int parameter)
get double ball joint parameter
ODE_API void dJointSetTransmissionAnchor2(dJointID, dReal x, dReal y, dReal z)
set the second anchor for the Transmission joint
An interface structure with function pointers to be provided by threading implementation.
Definition: threading.h:370
ODE_API int dBodyGetGravityMode(dBodyID b)
Get whether the body is influenced by the world's gravity or not.
Definition: ode.cpp:876
ODE_API dReal dJointGetHinge2Angle1(dJointID)
Get angle.
ODE_API dReal dBodyGetMaxAngularSpeed(dBodyID b)
Get the body's maximum angular speed.
Definition: ode.cpp:1093
ODE_API void dJointSetSliderAxis(dJointID, dReal x, dReal y, dReal z)
set the joint axis
ODE_API void dJointGetDBallAnchor1(dJointID, dVector3 result)
get anchor1 from double ball joint
ODE_API void dJointGetHingeAxis(dJointID, dVector3 result)
get axis
ODE_API void dWorldSetDamping(dWorldID w, dReal linear_scale, dReal angular_scale)
Convenience function to set body linear and angular scales.
Definition: ode.cpp:2002
ODE_API void dJointGetPUAxisP(dJointID id, dVector3 result)
Get the prismatic axis.
ODE_API void dJointSetTransmissionAxis2(dJointID, dReal x, dReal y, dReal z)
set second axis for the Transmission joint
ODE_API void dJointGetUniversalAngles(dJointID, dReal *angle1, dReal *angle2)
Get both angles at the same time.
ODE_API void dBodySetRotation(dBodyID, const dMatrix3 R)
Set the orientation of a body.
Definition: ode.cpp:358
ODE_API void dJointSetHingeParam(dJointID, int parameter, dReal value)
set joint parameter
ODE_API void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold)
Set the world's angular damping threshold.
Definition: ode.cpp:1964
ODE_API void dJointSetLMotorParam(dJointID, int parameter, dReal value)
set joint parameter
ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque)
Applies the torque about the hinge axis.
ODE_API dReal dBodyGetAutoDisableAngularThreshold(dBodyID)
Get auto disable angular average threshold.
Definition: ode.cpp:899
ODE_API dWorldID dWorldCreate(void)
Create a new, empty world and return its ID number.
Definition: ode.cpp:1571
ODE_API dReal dJointGetPUAngle2Rate(dJointID)
ODE_API void dWorldSetAutoDisableFlag(dWorldID, int do_auto_disable)
Set auto disable flag for newly created bodies.
Definition: ode.cpp:1934
ODE_API dBodyID dBodyCreate(dWorldID)
Create a body in given world.
ODE_API void dWorldSetCFM(dWorldID, dReal cfm)
Set the global CFM (constraint force mixing) value.
Definition: ode.cpp:1647
ODE_API dJointID dBodyGetJoint(dBodyID, int index)
Return a joint attached to this body, given by index.
Definition: ode.cpp:814
ODE_API int dBodyIsEnabled(dBodyID)
Check wether a body is enabled.
Definition: ode.cpp:861
ODE_API dReal dWorldGetContactSurfaceLayer(dWorldID)
Get the depth of the surface layer around all geometry objects.
Definition: ode.cpp:2075
ODE_API int dBodyGetGyroscopicMode(dBodyID b)
Get the body's gyroscopic state.
Definition: ode.cpp:1130
ODE_API int dJointGetNumBodies(dJointID)
Return the number of bodies attached to the joint.
ODE_API void dJointGetDBallAnchor2(dJointID, dVector3 result)
get anchor2 from double ball joint
ODE_API const dReal * dBodyGetPosition(dBodyID)
Get the position of a body.
Definition: ode.cpp:407
ODE_API dReal dWorldGetMaxAngularSpeed(dWorldID w)
Get the default maximum angular speed.
Definition: ode.cpp:2009
ODE_API void dWorldSetMaxAngularSpeed(dWorldID w, dReal max_speed)
Set the default maximum angular speed for new bodies.
Definition: ode.cpp:2015
ODE_API const dReal * dBodyGetQuaternion(dBodyID)
Get the rotation of a body.
Definition: ode.cpp:450
ODE_API void dJointGetUniversalAnchor(dJointID, dVector3 result)
Get the joint anchor point, in world coordinates.
ODE_API void dBodyAddForceAtPos(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
Add force at specified point in body in global coordinates.
Definition: ode.cpp:557
ODE_API dReal dWorldGetAutoDisableLinearAverageThreshold(dWorldID)
Get auto disable linear average threshold for newly created bodies.
ODE_API void dJointGetPUAxis2(dJointID, dVector3 result)
Get the second axis of the Universal component of the joint.