Functions | |
| ODE_API dReal | dBodyGetAutoDisableLinearThreshold (dBodyID) |
| Get auto disable linear average threshold. | |
| ODE_API void | dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold) |
| Set auto disable linear average threshold. | |
| ODE_API dReal | dBodyGetAutoDisableAngularThreshold (dBodyID) |
| Get auto disable angular average threshold. | |
| ODE_API void | dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold) |
| Set auto disable angular average threshold. | |
| ODE_API int | dBodyGetAutoDisableAverageSamplesCount (dBodyID) |
| Get auto disable average size (samples count). | |
| ODE_API void | dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count) |
| Set auto disable average buffer size (average steps). | |
| ODE_API int | dBodyGetAutoDisableSteps (dBodyID) |
| Get auto steps a body must be thought of as idle to disable. | |
| ODE_API void | dBodySetAutoDisableSteps (dBodyID, int steps) |
| Set auto disable steps. | |
| ODE_API dReal | dBodyGetAutoDisableTime (dBodyID) |
| Get auto disable time. | |
| ODE_API void | dBodySetAutoDisableTime (dBodyID, dReal time) |
| Set auto disable time. | |
| ODE_API int | dBodyGetAutoDisableFlag (dBodyID) |
| Get auto disable flag. | |
| ODE_API void | dBodySetAutoDisableFlag (dBodyID, int do_auto_disable) |
| Set auto disable flag. | |
| ODE_API void | dBodySetAutoDisableDefaults (dBodyID) |
| Set auto disable defaults. | |
| ODE_API dWorldID | dBodyGetWorld (dBodyID) |
| Retrives the world attached to te given body. | |
| ODE_API dBodyID | dBodyCreate (dWorldID) |
| Create a body in given world. | |
| ODE_API void | dBodyDestroy (dBodyID) |
| Destroy a body. | |
| ODE_API void | dBodySetData (dBodyID, void *data) |
| Set the body's user-data pointer. | |
| ODE_API void * | dBodyGetData (dBodyID) |
| Get the body's user-data pointer. | |
| ODE_API void | dBodySetPosition (dBodyID, dReal x, dReal y, dReal z) |
| Set position of a body. | |
| ODE_API void | dBodySetRotation (dBodyID, const dMatrix3 R) |
| Set the orientation of a body. | |
| ODE_API void | dBodySetQuaternion (dBodyID, const dQuaternion q) |
| Set the orientation of a body. | |
| ODE_API void | dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z) |
| Set the linear velocity of a body. | |
| ODE_API void | dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z) |
| Set the angular velocity of a body. | |
| ODE_API const dReal * | dBodyGetPosition (dBodyID) |
| Get the position of a body. | |
| ODE_API void | dBodyCopyPosition (dBodyID body, dVector3 pos) |
| Copy the position of a body into a vector. | |
| ODE_API const dReal * | dBodyGetRotation (dBodyID) |
| Get the rotation of a body. | |
| ODE_API void | dBodyCopyRotation (dBodyID, dMatrix3 R) |
| Copy the rotation of a body. | |
| ODE_API const dReal * | dBodyGetQuaternion (dBodyID) |
| Get the rotation of a body. | |
| ODE_API void | dBodyCopyQuaternion (dBodyID body, dQuaternion quat) |
| Copy the orientation of a body into a quaternion. | |
| ODE_API const dReal * | dBodyGetLinearVel (dBodyID) |
| Get the linear velocity of a body. | |
| ODE_API const dReal * | dBodyGetAngularVel (dBodyID) |
| Get the angular velocity of a body. | |
| ODE_API void | dBodySetMass (dBodyID, const dMass *mass) |
| Set the mass of a body. | |
| ODE_API void | dBodyGetMass (dBodyID, dMass *mass) |
| Get the mass of a body. | |
| ODE_API void | dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz) |
| Add force at centre of mass of body in absolute coordinates. | |
| ODE_API void | dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz) |
| Add torque at centre of mass of body in absolute coordinates. | |
| ODE_API void | dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz) |
| Add force at centre of mass of body in coordinates relative to body. | |
| ODE_API void | dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz) |
| Add torque at centre of mass of body in coordinates relative to body. | |
| 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. | |
| 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. | |
| 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. | |
| 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. | |
| ODE_API const dReal * | dBodyGetForce (dBodyID) |
| Return the current accumulated force vector. | |
| ODE_API const dReal * | dBodyGetTorque (dBodyID) |
| Return the current accumulated torque vector. | |
| ODE_API void | dBodySetForce (dBodyID b, dReal x, dReal y, dReal z) |
| Set the body force accumulation vector. | |
| ODE_API void | dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z) |
| Set the body torque accumulation vector. | |
| ODE_API void | dBodyGetRelPointPos (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) |
| Get world position of a relative point on body. | |
| 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. | |
| 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. | |
| 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. | |
| ODE_API void | dBodyVectorToWorld (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) |
| Convert from local to world coordinates. | |
| ODE_API void | dBodyVectorFromWorld (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) |
| Convert from world to local coordinates. | |
| ODE_API void | dBodySetFiniteRotationMode (dBodyID, int mode) |
| controls the way a body's orientation is updated at each timestep. | |
| ODE_API void | dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z) |
| sets the finite rotation axis for a body. | |
| ODE_API int | dBodyGetFiniteRotationMode (dBodyID) |
| Get the way a body's orientation is updated each timestep. | |
| ODE_API void | dBodyGetFiniteRotationAxis (dBodyID, dVector3 result) |
| Get the finite rotation axis. | |
| ODE_API int | dBodyGetNumJoints (dBodyID b) |
| Get the number of joints that are attached to this body. | |
| ODE_API dJointID | dBodyGetJoint (dBodyID, int index) |
| Return a joint attached to this body, given by index. | |
| ODE_API void | dBodyEnable (dBodyID) |
| Manually enable a body. | |
| ODE_API void | dBodyDisable (dBodyID) |
| Manually disable a body. | |
| ODE_API int | dBodyIsEnabled (dBodyID) |
| Check wether a body is enabled. | |
| ODE_API void | dBodySetGravityMode (dBodyID b, int mode) |
| Set whether the body is influenced by the world's gravity or not. | |
| ODE_API int | dBodyGetGravityMode (dBodyID b) |
| Get whether the body is influenced by the world's gravity or not. | |
Note that the shape of a rigid body is not a dynamical property (except insofar as it influences the various mass properties). It is only collision detection that cares about the detailed shape of the body.
| ODE_API void dBodyCopyPosition | ( | dBodyID | body, | |
| dVector3 | pos | |||
| ) |
Copy the position of a body into a vector.
| body | the body to query | |
| pos | a copy of the body position |
| ODE_API void dBodyCopyQuaternion | ( | dBodyID | body, | |
| dQuaternion | quat | |||
| ) |
Copy the orientation of a body into a quaternion.
| body | the body to query | |
| quat | a copy of the orientation quaternion |
| ODE_API void dBodyCopyRotation | ( | dBodyID | , | |
| dMatrix3 | R | |||
| ) |
Copy the rotation of a body.
| body | the body to query | |
| R | a copy of the rotation matrix |
| ODE_API dBodyID dBodyCreate | ( | dWorldID | ) |
Create a body in given world.
| ODE_API void dBodyDestroy | ( | dBodyID | ) |
Destroy a body.
| ODE_API void dBodyDisable | ( | dBodyID | ) |
Manually disable a body.
| ODE_API void dBodyEnable | ( | dBodyID | ) |
Manually enable a body.
| dBodyID | identification of body. |
| ODE_API dReal dBodyGetAutoDisableAngularThreshold | ( | dBodyID | ) |
Get auto disable angular average threshold.
| ODE_API int dBodyGetAutoDisableAverageSamplesCount | ( | dBodyID | ) |
Get auto disable average size (samples count).
| ODE_API int dBodyGetAutoDisableFlag | ( | dBodyID | ) |
Get auto disable flag.
| ODE_API dReal dBodyGetAutoDisableLinearThreshold | ( | dBodyID | ) |
Get auto disable linear average threshold.
| ODE_API int dBodyGetAutoDisableSteps | ( | dBodyID | ) |
Get auto steps a body must be thought of as idle to disable.
| ODE_API dReal dBodyGetAutoDisableTime | ( | dBodyID | ) |
Get auto disable time.
| ODE_API void* dBodyGetData | ( | dBodyID | ) |
Get the body's user-data pointer.
| ODE_API void dBodyGetFiniteRotationAxis | ( | dBodyID | , | |
| dVector3 | result | |||
| ) |
Get the finite rotation axis.
| result | will contain the axis. |
| ODE_API int dBodyGetFiniteRotationMode | ( | dBodyID | ) |
Get the way a body's orientation is updated each timestep.
| ODE_API const dReal* dBodyGetForce | ( | dBodyID | ) |
Return the current accumulated force vector.
| ODE_API int dBodyGetGravityMode | ( | dBodyID | b | ) |
Get whether the body is influenced by the world's gravity or not.
| ODE_API dJointID dBodyGetJoint | ( | dBodyID | , | |
| int | index | |||
| ) |
Return a joint attached to this body, given by index.
| index | valid range is 0 to n-1 where n is the value returned by dBodyGetNumJoints(). |
| ODE_API int dBodyGetNumJoints | ( | dBodyID | b | ) |
Get the number of joints that are attached to this body.
| 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.
| result | will contain the result. |
| ODE_API const dReal* dBodyGetPosition | ( | dBodyID | ) |
Get the position of a body.
| 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.
| result | will contain the result. |
| ODE_API const dReal* dBodyGetQuaternion | ( | dBodyID | ) |
Get the rotation of a body.
| ODE_API void dBodyGetRelPointPos | ( | dBodyID | , | |
| dReal | px, | |||
| dReal | py, | |||
| dReal | pz, | |||
| dVector3 | result | |||
| ) |
Get world position of a relative point on body.
| result | will contain the result. |
| 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.
| result | will contain the result. |
| ODE_API const dReal* dBodyGetRotation | ( | dBodyID | ) |
Get the rotation of a body.
| ODE_API const dReal* dBodyGetTorque | ( | dBodyID | ) |
Return the current accumulated torque vector.
| ODE_API dWorldID dBodyGetWorld | ( | dBodyID | ) |
Retrives the world attached to te given body.
| ODE_API int dBodyIsEnabled | ( | dBodyID | ) |
Check wether a body is enabled.
| ODE_API void dBodySetAutoDisableAngularThreshold | ( | dBodyID | , | |
| dReal | angular_average_threshold | |||
| ) |
Set auto disable angular average threshold.
| ODE_API void dBodySetAutoDisableAverageSamplesCount | ( | dBodyID | , | |
| unsigned int | average_samples_count | |||
| ) |
Set auto disable average buffer size (average steps).
| average_samples_count | the nr of samples to review. |
| ODE_API void dBodySetAutoDisableDefaults | ( | dBodyID | ) |
Set auto disable defaults.
| ODE_API void dBodySetAutoDisableFlag | ( | dBodyID | , | |
| int | do_auto_disable | |||
| ) |
Set auto disable flag.
| do_auto_disable | 0 or 1 |
| ODE_API void dBodySetAutoDisableLinearThreshold | ( | dBodyID | , | |
| dReal | linear_average_threshold | |||
| ) |
Set auto disable linear average threshold.
| ODE_API void dBodySetAutoDisableSteps | ( | dBodyID | , | |
| int | steps | |||
| ) |
Set auto disable steps.
| steps | the nr of steps. |
| ODE_API void dBodySetAutoDisableTime | ( | dBodyID | , | |
| dReal | time | |||
| ) |
Set auto disable time.
| time | nr of seconds. |
| ODE_API void dBodySetData | ( | dBodyID | , | |
| void * | data | |||
| ) |
Set the body's user-data pointer.
| data | arbitraty pointer |
| ODE_API void dBodySetFiniteRotationAxis | ( | dBodyID | , | |
| dReal | x, | |||
| dReal | y, | |||
| dReal | z | |||
| ) |
sets the finite rotation axis for a body.
This can be useful to alleviate certain sources of error caused by quickly spinning bodies. For example, if a car wheel is rotating at high speed you can call this function with the wheel's hinge axis as the argument to try and improve its behavior.
| ODE_API void dBodySetFiniteRotationMode | ( | dBodyID | , | |
| int | mode | |||
| ) |
controls the way a body's orientation is updated at each timestep.
| mode | can be 0 or 1:
|
| ODE_API void dBodySetForce | ( | dBodyID | b, | |
| dReal | x, | |||
| dReal | y, | |||
| dReal | z | |||
| ) |
Set the body force accumulation vector.
| ODE_API void dBodySetGravityMode | ( | dBodyID | b, | |
| int | mode | |||
| ) |
Set whether the body is influenced by the world's gravity or not.
| mode | when nonzero gravity affects this body. |
| ODE_API void dBodySetPosition | ( | dBodyID | , | |
| dReal | x, | |||
| dReal | y, | |||
| dReal | z | |||
| ) |
Set position of a body.
| ODE_API void dBodySetQuaternion | ( | dBodyID | , | |
| const dQuaternion | q | |||
| ) |
Set the orientation of a body.
| ODE_API void dBodySetRotation | ( | dBodyID | , | |
| const dMatrix3 | R | |||
| ) |
Set the orientation of a body.
| ODE_API void dBodySetTorque | ( | dBodyID | b, | |
| dReal | x, | |||
| dReal | y, | |||
| dReal | z | |||
| ) |
Set the body torque accumulation vector.
| ODE_API void dBodyVectorFromWorld | ( | dBodyID | , | |
| dReal | px, | |||
| dReal | py, | |||
| dReal | pz, | |||
| dVector3 | result | |||
| ) |
Convert from world to local coordinates.
| result | will contain the result. |
| ODE_API void dBodyVectorToWorld | ( | dBodyID | , | |
| dReal | px, | |||
| dReal | py, | |||
| dReal | pz, | |||
| dVector3 | result | |||
| ) |
Convert from local to world coordinates.
| result | will contain the result. |
1.5.3