Functions | |
ODE_API dReal | dBodyGetAutoDisableLinearThreshold (dBodyID) |
Get auto disable linear threshold. | |
ODE_API void | dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_threshold) |
Set auto disable linear threshold. | |
ODE_API dReal | dBodyGetAutoDisableAngularThreshold (dBodyID) |
Get auto disable angular threshold. | |
ODE_API void | dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_threshold) |
Set auto disable angular threshold. | |
ODE_API int | dBodyGetAutoDisableSteps (dBodyID) |
Get auto disable steps. | |
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 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 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.
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Copy the position of a body into a vector.
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Copy the orientation of a body into a quaternion.
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Create a body in given world.
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Destroy a body.
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Manually disable a body.
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Manually enable a body.
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Get auto disable angular threshold.
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Get auto disable flag.
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Get auto disable linear threshold.
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Get auto disable steps.
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Get auto disable time.
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Get the body's user-data pointer.
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Get the finite rotation axis.
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Get the way a body's orientation is updated each timestep.
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Return the current accumulated force vector.
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Get whether the body is influenced by the world's gravity or not.
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Return a joint attached to this body, given by index.
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Get the number of joints that are attached to this body.
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Get velocity vector in global coords of a globally specified point on a body.
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Get the position of a body.
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takes a point in global coordinates and returns the point's position in body-relative coordinates.
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Get the rotation of a body.
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Get world position of a relative point on body.
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Get velocity vector in global coords of a relative point on body.
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Get the rotation of a body.
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Return the current accumulated torque vector.
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Check wether a body is enabled.
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Set auto disable angular threshold.
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Set auto disable defaults.
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Set auto disable flag.
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Set auto disable linear threshold.
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Set auto disable steps.
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Set auto disable time.
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Set the body's user-data pointer.
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sets the finite rotation axis for a body.
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controls the way a body's orientation is updated at each timestep.
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Set the body force accumulation vector.
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Set whether the body is influenced by the world's gravity or not.
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Set position of a body.
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Set the orientation of a body.
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Set the orientation of a body.
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Set the body torque accumulation vector.
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Convert from world to local coordinates.
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Convert from local to world coordinates.
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