504 lines
21 KiB
Cython
504 lines
21 KiB
Cython
|
######################################################################
|
||
|
|
# Python Open Dynamics Engine Wrapper
|
||
|
|
# Copyright (C) 2004 PyODE developers (see file AUTHORS)
|
||
|
|
# All rights reserved.
|
||
|
|
#
|
||
|
|
# This library is free software; you can redistribute it and/or
|
||
|
|
# modify it under the terms of EITHER:
|
||
|
|
# (1) The GNU Lesser General Public License as published by the Free
|
||
|
|
# Software Foundation; either version 2.1 of the License, or (at
|
||
|
|
# your option) any later version. The text of the GNU Lesser
|
||
|
|
# General Public License is included with this library in the
|
||
|
|
# file LICENSE.
|
||
|
|
# (2) The BSD-style license that is included with this library in
|
||
|
|
# the file LICENSE-BSD.
|
||
|
|
#
|
||
|
|
# This library is distributed in the hope that it will be useful,
|
||
|
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
|
||
|
|
# LICENSE and LICENSE-BSD for more details.
|
||
|
|
######################################################################
|
||
|
|
|
||
|
|
cdef extern from "stdlib.h":
|
||
|
|
|
||
|
|
void* malloc(long)
|
||
|
|
void free(void*)
|
||
|
|
|
||
|
|
cdef extern from "stdio.h":
|
||
|
|
int printf(char*)
|
||
|
|
|
||
|
|
# Include the basic floating point type -> dReal (either float or double)
|
||
|
|
#include "_precision.pyx"
|
||
|
|
|
||
|
|
cdef extern from "ode/ode.h":
|
||
|
|
|
||
|
|
ctypedef double dReal
|
||
|
|
|
||
|
|
# Dummy structs
|
||
|
|
cdef struct dxWorld:
|
||
|
|
int _dummy
|
||
|
|
cdef struct dxSpace:
|
||
|
|
int _dummy
|
||
|
|
cdef struct dxBody:
|
||
|
|
int _dummy
|
||
|
|
cdef struct dxGeom:
|
||
|
|
int _dummy
|
||
|
|
cdef struct dxJoint:
|
||
|
|
int _dummy
|
||
|
|
cdef struct dxJointGroup:
|
||
|
|
int _dummy
|
||
|
|
cdef struct dxTriMeshData:
|
||
|
|
int _dummy
|
||
|
|
cdef struct dxHeightfieldData:
|
||
|
|
int _dummy
|
||
|
|
|
||
|
|
# Types
|
||
|
|
ctypedef dxWorld* dWorldID
|
||
|
|
ctypedef dxSpace* dSpaceID
|
||
|
|
ctypedef dxBody* dBodyID
|
||
|
|
ctypedef dxGeom* dGeomID
|
||
|
|
ctypedef dxJoint* dJointID
|
||
|
|
ctypedef dxJointGroup* dJointGroupID
|
||
|
|
ctypedef dxTriMeshData* dTriMeshDataID
|
||
|
|
ctypedef dxHeightfieldData* dHeightfieldDataID
|
||
|
|
ctypedef dReal dVector3[4]
|
||
|
|
ctypedef dReal dVector4[4]
|
||
|
|
ctypedef dReal dMatrix3[4*3]
|
||
|
|
ctypedef dReal dMatrix4[4*4]
|
||
|
|
ctypedef dReal dMatrix6[8*6]
|
||
|
|
ctypedef dReal dQuaternion[4]
|
||
|
|
|
||
|
|
cdef extern dReal dInfinity
|
||
|
|
cdef extern int dAMotorUser
|
||
|
|
cdef extern int dAMotorEuler
|
||
|
|
|
||
|
|
ctypedef struct dMass:
|
||
|
|
dReal mass
|
||
|
|
dVector4 c
|
||
|
|
dMatrix3 I
|
||
|
|
|
||
|
|
ctypedef struct dJointFeedback:
|
||
|
|
dVector3 f1
|
||
|
|
dVector3 t1
|
||
|
|
dVector3 f2
|
||
|
|
dVector3 t2
|
||
|
|
|
||
|
|
ctypedef void dNearCallback(void* data, dGeomID o1, dGeomID o2)
|
||
|
|
ctypedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z )
|
||
|
|
|
||
|
|
ctypedef struct dSurfaceParameters:
|
||
|
|
int mode
|
||
|
|
dReal mu
|
||
|
|
|
||
|
|
dReal mu2
|
||
|
|
dReal bounce
|
||
|
|
dReal bounce_vel
|
||
|
|
dReal soft_erp
|
||
|
|
dReal soft_cfm
|
||
|
|
dReal motion1,motion2
|
||
|
|
dReal slip1,slip2
|
||
|
|
|
||
|
|
ctypedef struct dContactGeom:
|
||
|
|
dVector3 pos
|
||
|
|
dVector3 normal
|
||
|
|
dReal depth
|
||
|
|
dGeomID g1,g2
|
||
|
|
|
||
|
|
ctypedef struct dContact:
|
||
|
|
dSurfaceParameters surface
|
||
|
|
dContactGeom geom
|
||
|
|
dVector3 fdir1
|
||
|
|
|
||
|
|
|
||
|
|
# World
|
||
|
|
dWorldID dWorldCreate()
|
||
|
|
void dWorldDestroy (dWorldID)
|
||
|
|
|
||
|
|
void dCloseODE()
|
||
|
|
void dInitODE()
|
||
|
|
|
||
|
|
void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z)
|
||
|
|
void dWorldGetGravity (dWorldID, dVector3 gravity)
|
||
|
|
void dWorldSetERP (dWorldID, dReal erp)
|
||
|
|
dReal dWorldGetERP (dWorldID)
|
||
|
|
void dWorldSetCFM (dWorldID, dReal cfm)
|
||
|
|
dReal dWorldGetCFM (dWorldID)
|
||
|
|
void dWorldStep (dWorldID, dReal stepsize)
|
||
|
|
void dWorldQuickStep (dWorldID, dReal stepsize)
|
||
|
|
void dWorldSetQuickStepNumIterations (dWorldID, int num)
|
||
|
|
int dWorldGetQuickStepNumIterations (dWorldID)
|
||
|
|
void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel)
|
||
|
|
dReal dWorldGetContactMaxCorrectingVel (dWorldID)
|
||
|
|
void dWorldSetContactSurfaceLayer (dWorldID, dReal depth)
|
||
|
|
dReal dWorldGetContactSurfaceLayer (dWorldID)
|
||
|
|
void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable)
|
||
|
|
int dWorldGetAutoDisableFlag (dWorldID)
|
||
|
|
void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold)
|
||
|
|
dReal dWorldGetAutoDisableLinearThreshold (dWorldID)
|
||
|
|
void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold)
|
||
|
|
dReal dWorldGetAutoDisableAngularThreshold (dWorldID)
|
||
|
|
void dWorldSetAutoDisableSteps (dWorldID, int steps)
|
||
|
|
int dWorldGetAutoDisableSteps (dWorldID)
|
||
|
|
void dWorldSetAutoDisableTime (dWorldID, dReal time)
|
||
|
|
dReal dWorldGetAutoDisableTime (dWorldID)
|
||
|
|
dReal dWorldGetLinearDamping (dWorldID)
|
||
|
|
void dWorldSetLinearDamping (dWorldID, dReal scale)
|
||
|
|
dReal dWorldGetAngularDamping (dWorldID)
|
||
|
|
void dWorldSetAngularDamping (dWorldID, dReal scale)
|
||
|
|
void dWorldImpulseToForce (dWorldID, dReal stepsize,
|
||
|
|
dReal ix, dReal iy, dReal iz, dVector3 force)
|
||
|
|
|
||
|
|
# Body
|
||
|
|
dBodyID dBodyCreate (dWorldID)
|
||
|
|
void dBodyDestroy (dBodyID)
|
||
|
|
|
||
|
|
void dBodySetData (dBodyID, void *data)
|
||
|
|
void *dBodyGetData (dBodyID)
|
||
|
|
|
||
|
|
void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z)
|
||
|
|
void dBodySetRotation (dBodyID, dMatrix3 R)
|
||
|
|
void dBodySetQuaternion (dBodyID, dQuaternion q)
|
||
|
|
void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z)
|
||
|
|
void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z)
|
||
|
|
dReal * dBodyGetPosition (dBodyID)
|
||
|
|
dReal * dBodyGetRotation (dBodyID)
|
||
|
|
dReal * dBodyGetQuaternion (dBodyID)
|
||
|
|
dReal * dBodyGetLinearVel (dBodyID)
|
||
|
|
dReal * dBodyGetAngularVel (dBodyID)
|
||
|
|
|
||
|
|
void dBodySetMass (dBodyID, dMass *mass)
|
||
|
|
void dBodyGetMass (dBodyID, dMass *mass)
|
||
|
|
|
||
|
|
void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz)
|
||
|
|
void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz)
|
||
|
|
void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz)
|
||
|
|
void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz)
|
||
|
|
void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
|
||
|
|
void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
|
||
|
|
void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
|
||
|
|
void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
|
||
|
|
|
||
|
|
dReal * dBodyGetForce (dBodyID)
|
||
|
|
dReal * dBodyGetTorque (dBodyID)
|
||
|
|
|
||
|
|
void dBodySetForce(dBodyID, dReal x, dReal y, dReal z)
|
||
|
|
void dBodySetTorque(dBodyID, dReal x, dReal y, dReal z)
|
||
|
|
|
||
|
|
void dBodyGetRelPointPos (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
|
||
|
|
void dBodyGetRelPointVel (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
|
||
|
|
void dBodyGetPointVel (dBodyID, dReal px, dReal py, dReal pz,
|
||
|
|
dVector3 result)
|
||
|
|
void dBodyGetPosRelPoint (dBodyID, dReal px, dReal py, dReal pz,
|
||
|
|
dVector3 result)
|
||
|
|
void dBodyVectorToWorld (dBodyID, dReal px, dReal py, dReal pz,
|
||
|
|
dVector3 result)
|
||
|
|
void dBodyVectorFromWorld (dBodyID, dReal px, dReal py, dReal pz,
|
||
|
|
dVector3 result)
|
||
|
|
|
||
|
|
void dBodySetFiniteRotationMode (dBodyID, int mode)
|
||
|
|
void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z)
|
||
|
|
|
||
|
|
int dBodyGetFiniteRotationMode (dBodyID)
|
||
|
|
void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result)
|
||
|
|
|
||
|
|
int dBodyGetNumJoints (dBodyID b)
|
||
|
|
dJointID dBodyGetJoint (dBodyID, int index)
|
||
|
|
|
||
|
|
void dBodyEnable (dBodyID)
|
||
|
|
void dBodyDisable (dBodyID)
|
||
|
|
int dBodyIsEnabled (dBodyID)
|
||
|
|
|
||
|
|
void dBodySetGravityMode (dBodyID b, int mode)
|
||
|
|
int dBodyGetGravityMode (dBodyID b)
|
||
|
|
|
||
|
|
void dBodySetDynamic (dBodyID)
|
||
|
|
void dBodySetKinematic (dBodyID)
|
||
|
|
int dBodyIsKinematic (dBodyID)
|
||
|
|
|
||
|
|
void dBodySetMaxAngularSpeed (dBodyID, dReal max_speed)
|
||
|
|
|
||
|
|
# Joints
|
||
|
|
dJointID dJointCreateBall (dWorldID, dJointGroupID)
|
||
|
|
dJointID dJointCreateHinge (dWorldID, dJointGroupID)
|
||
|
|
dJointID dJointCreateSlider (dWorldID, dJointGroupID)
|
||
|
|
dJointID dJointCreateContact (dWorldID, dJointGroupID, dContact *)
|
||
|
|
dJointID dJointCreateUniversal (dWorldID, dJointGroupID)
|
||
|
|
dJointID dJointCreatePR (dWorldID, dJointGroupID)
|
||
|
|
dJointID dJointCreateHinge2 (dWorldID, dJointGroupID)
|
||
|
|
dJointID dJointCreateFixed (dWorldID, dJointGroupID)
|
||
|
|
dJointID dJointCreateNull (dWorldID, dJointGroupID)
|
||
|
|
dJointID dJointCreateAMotor (dWorldID, dJointGroupID)
|
||
|
|
dJointID dJointCreateLMotor (dWorldID, dJointGroupID)
|
||
|
|
dJointID dJointCreatePlane2D (dWorldID, dJointGroupID)
|
||
|
|
|
||
|
|
void dJointDestroy (dJointID)
|
||
|
|
|
||
|
|
void dJointEnable (dJointID)
|
||
|
|
void dJointDisable (dJointID)
|
||
|
|
int dJointIsEnabled (dJointID)
|
||
|
|
|
||
|
|
dJointGroupID dJointGroupCreate (int max_size)
|
||
|
|
void dJointGroupDestroy (dJointGroupID)
|
||
|
|
void dJointGroupEmpty (dJointGroupID)
|
||
|
|
|
||
|
|
void dJointAttach (dJointID, dBodyID body1, dBodyID body2)
|
||
|
|
void dJointSetData (dJointID, void *data)
|
||
|
|
void *dJointGetData (dJointID)
|
||
|
|
int dJointGetType (dJointID)
|
||
|
|
dBodyID dJointGetBody (dJointID, int index)
|
||
|
|
|
||
|
|
void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetHingeParam (dJointID, int parameter, dReal value)
|
||
|
|
void dJointAddHingeTorque(dJointID joint, dReal torque)
|
||
|
|
void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetSliderParam (dJointID, int parameter, dReal value)
|
||
|
|
void dJointAddSliderForce(dJointID joint, dReal force)
|
||
|
|
void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetHinge2Param (dJointID, int parameter, dReal value)
|
||
|
|
void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2)
|
||
|
|
void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetUniversalParam (dJointID, int parameter, dReal value)
|
||
|
|
void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2)
|
||
|
|
void dJointSetFixed (dJointID)
|
||
|
|
void dJointSetAMotorNumAxes (dJointID, int num)
|
||
|
|
void dJointSetAMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetAMotorAngle (dJointID, int anum, dReal angle)
|
||
|
|
void dJointSetAMotorParam (dJointID, int parameter, dReal value)
|
||
|
|
void dJointSetAMotorMode (dJointID, int mode)
|
||
|
|
void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3)
|
||
|
|
void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetLMotorNumAxes (dJointID, int num)
|
||
|
|
void dJointSetLMotorParam (dJointID, int parameter, dReal value)
|
||
|
|
|
||
|
|
void dJointGetBallAnchor (dJointID, dVector3 result)
|
||
|
|
void dJointGetBallAnchor2 (dJointID, dVector3 result)
|
||
|
|
void dJointGetHingeAnchor (dJointID, dVector3 result)
|
||
|
|
void dJointGetHingeAnchor2 (dJointID, dVector3 result)
|
||
|
|
void dJointGetHingeAxis (dJointID, dVector3 result)
|
||
|
|
dReal dJointGetHingeParam (dJointID, int parameter)
|
||
|
|
dReal dJointGetHingeAngle (dJointID)
|
||
|
|
dReal dJointGetHingeAngleRate (dJointID)
|
||
|
|
dReal dJointGetSliderPosition (dJointID)
|
||
|
|
dReal dJointGetSliderPositionRate (dJointID)
|
||
|
|
void dJointGetSliderAxis (dJointID, dVector3 result)
|
||
|
|
dReal dJointGetSliderParam (dJointID, int parameter)
|
||
|
|
void dJointGetHinge2Anchor (dJointID, dVector3 result)
|
||
|
|
void dJointGetHinge2Anchor2 (dJointID, dVector3 result)
|
||
|
|
void dJointGetHinge2Axis1 (dJointID, dVector3 result)
|
||
|
|
void dJointGetHinge2Axis2 (dJointID, dVector3 result)
|
||
|
|
dReal dJointGetHinge2Param (dJointID, int parameter)
|
||
|
|
dReal dJointGetHinge2Angle1 (dJointID)
|
||
|
|
dReal dJointGetHinge2Angle1Rate (dJointID)
|
||
|
|
dReal dJointGetHinge2Angle2Rate (dJointID)
|
||
|
|
void dJointGetUniversalAnchor (dJointID, dVector3 result)
|
||
|
|
void dJointGetUniversalAnchor2 (dJointID, dVector3 result)
|
||
|
|
void dJointGetUniversalAxis1 (dJointID, dVector3 result)
|
||
|
|
void dJointGetUniversalAxis2 (dJointID, dVector3 result)
|
||
|
|
dReal dJointGetUniversalParam (dJointID, int parameter)
|
||
|
|
dReal dJointGetUniversalAngle1 (dJointID)
|
||
|
|
dReal dJointGetUniversalAngle2 (dJointID)
|
||
|
|
dReal dJointGetUniversalAngle1Rate (dJointID)
|
||
|
|
dReal dJointGetUniversalAngle2Rate (dJointID)
|
||
|
|
int dJointGetAMotorNumAxes (dJointID)
|
||
|
|
void dJointGetAMotorAxis (dJointID, int anum, dVector3 result)
|
||
|
|
int dJointGetAMotorAxisRel (dJointID, int anum)
|
||
|
|
dReal dJointGetAMotorAngle (dJointID, int anum)
|
||
|
|
dReal dJointGetAMotorAngleRate (dJointID, int anum)
|
||
|
|
dReal dJointGetAMotorParam (dJointID, int parameter)
|
||
|
|
int dJointGetAMotorMode (dJointID)
|
||
|
|
int dJointGetLMotorNumAxes (dJointID)
|
||
|
|
void dJointGetLMotorAxis (dJointID, int anum, dVector3 result)
|
||
|
|
dReal dJointGetLMotorParam (dJointID, int parameter)
|
||
|
|
void dJointSetPlane2DXParam (dJointID, int parameter, dReal value)
|
||
|
|
void dJointSetPlane2DYParam (dJointID, int parameter, dReal value)
|
||
|
|
void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value)
|
||
|
|
dReal dJointGetPRPosition (dJointID j)
|
||
|
|
void dJointSetPRAnchor (dJointID j, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetPRAxis1 (dJointID j, dReal x, dReal y, dReal z)
|
||
|
|
void dJointSetPRAxis2 (dJointID j, dReal x, dReal y, dReal z)
|
||
|
|
void dJointGetPRAnchor (dJointID j, dVector3 result)
|
||
|
|
void dJointGetPRAxis1 (dJointID j, dVector3 result)
|
||
|
|
void dJointGetPRAxis2 (dJointID j, dVector3 result)
|
||
|
|
|
||
|
|
void dJointSetFeedback (dJointID, dJointFeedback *)
|
||
|
|
dJointFeedback *dJointGetFeedback (dJointID)
|
||
|
|
|
||
|
|
int dAreConnected (dBodyID, dBodyID)
|
||
|
|
|
||
|
|
# Mass
|
||
|
|
void dMassSetZero (dMass *)
|
||
|
|
void dMassSetParameters (dMass *, dReal themass,
|
||
|
|
dReal cgx, dReal cgy, dReal cgz,
|
||
|
|
dReal I11, dReal I22, dReal I33,
|
||
|
|
dReal I12, dReal I13, dReal I23)
|
||
|
|
void dMassSetSphere (dMass *, dReal density, dReal radius)
|
||
|
|
void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius)
|
||
|
|
void dMassSetCapsule (dMass *, dReal density, int direction, dReal radius, dReal length)
|
||
|
|
void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction, dReal radius, dReal length)
|
||
|
|
void dMassSetCylinder (dMass *, dReal density, int direction,
|
||
|
|
dReal radius, dReal length)
|
||
|
|
void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
|
||
|
|
dReal radius, dReal length)
|
||
|
|
void dMassSetBox (dMass *, dReal density,
|
||
|
|
dReal lx, dReal ly, dReal lz)
|
||
|
|
void dMassSetBoxTotal (dMass *, dReal total_mass,
|
||
|
|
dReal lx, dReal ly, dReal lz)
|
||
|
|
void dMassAdjust (dMass *, dReal newmass)
|
||
|
|
void dMassTranslate (dMass *, dReal x, dReal y, dReal z)
|
||
|
|
void dMassRotate (dMass *, dMatrix3 R)
|
||
|
|
void dMassAdd (dMass *a, dMass *b)
|
||
|
|
|
||
|
|
# Space
|
||
|
|
# dSpaceID dSimpleSpaceCreate(int space)
|
||
|
|
# dSpaceID dHashSpaceCreate(int space)
|
||
|
|
dSpaceID dSimpleSpaceCreate(dSpaceID space)
|
||
|
|
dSpaceID dHashSpaceCreate(dSpaceID space)
|
||
|
|
dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center,
|
||
|
|
dVector3 Extents, int Depth)
|
||
|
|
|
||
|
|
void dSpaceDestroy (dSpaceID)
|
||
|
|
void dSpaceAdd (dSpaceID, dGeomID)
|
||
|
|
void dSpaceRemove (dSpaceID, dGeomID)
|
||
|
|
int dSpaceQuery (dSpaceID, dGeomID)
|
||
|
|
void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback)
|
||
|
|
void dSpaceCollide2 (dGeomID o1, dGeomID o2, void *data, dNearCallback *callback)
|
||
|
|
|
||
|
|
void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel)
|
||
|
|
void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel)
|
||
|
|
|
||
|
|
void dSpaceSetCleanup (dSpaceID space, int mode)
|
||
|
|
int dSpaceGetCleanup (dSpaceID space)
|
||
|
|
|
||
|
|
int dSpaceGetNumGeoms (dSpaceID)
|
||
|
|
dGeomID dSpaceGetGeom (dSpaceID, int i)
|
||
|
|
|
||
|
|
# Geom
|
||
|
|
dGeomID dCreateSphere (dSpaceID space, dReal radius)
|
||
|
|
dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
|
||
|
|
dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
|
||
|
|
dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length)
|
||
|
|
dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length)
|
||
|
|
dGeomID dCreateGeomGroup (dSpaceID space)
|
||
|
|
|
||
|
|
void dGeomSphereSetRadius (dGeomID sphere, dReal radius)
|
||
|
|
void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz)
|
||
|
|
void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d)
|
||
|
|
void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length)
|
||
|
|
void dGeomCylinderSetParams (dGeomID ccylinder, dReal radius, dReal length)
|
||
|
|
|
||
|
|
dReal dGeomSphereGetRadius (dGeomID sphere)
|
||
|
|
void dGeomBoxGetLengths (dGeomID box, dVector3 result)
|
||
|
|
void dGeomPlaneGetParams (dGeomID plane, dVector4 result)
|
||
|
|
void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length)
|
||
|
|
void dGeomCylinderGetParams (dGeomID ccylinder, dReal *radius, dReal *length)
|
||
|
|
|
||
|
|
dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z)
|
||
|
|
dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z)
|
||
|
|
dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z)
|
||
|
|
dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z)
|
||
|
|
|
||
|
|
dGeomID dCreateRay (dSpaceID space, dReal length)
|
||
|
|
void dGeomRaySetLength (dGeomID ray, dReal length)
|
||
|
|
dReal dGeomRayGetLength (dGeomID ray)
|
||
|
|
void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
|
||
|
|
dReal dx, dReal dy, dReal dz)
|
||
|
|
void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir)
|
||
|
|
|
||
|
|
void dGeomSetData (dGeomID, void *)
|
||
|
|
void *dGeomGetData (dGeomID)
|
||
|
|
void dGeomSetBody (dGeomID, dBodyID)
|
||
|
|
dBodyID dGeomGetBody (dGeomID)
|
||
|
|
void dGeomSetPosition (dGeomID, dReal x, dReal y, dReal z)
|
||
|
|
void dGeomSetRotation (dGeomID, dMatrix3 R)
|
||
|
|
void dGeomSetQuaternion (dGeomID, dQuaternion)
|
||
|
|
dReal * dGeomGetPosition (dGeomID)
|
||
|
|
dReal * dGeomGetRotation (dGeomID)
|
||
|
|
void dGeomGetQuaternion (dGeomID, dQuaternion result)
|
||
|
|
void dGeomSetOffsetPosition (dGeomID, dReal x, dReal y, dReal z)
|
||
|
|
void dGeomSetOffsetRotation (dGeomID, dMatrix3 R)
|
||
|
|
void dGeomClearOffset (dGeomID)
|
||
|
|
dReal * dGeomGetOffsetPosition (dGeomID)
|
||
|
|
dReal * dGeomGetOffsetRotation (dGeomID)
|
||
|
|
void dGeomDestroy (dGeomID)
|
||
|
|
void dGeomGetAABB (dGeomID, dReal aabb[6])
|
||
|
|
dReal *dGeomGetSpaceAABB (dGeomID)
|
||
|
|
int dGeomIsSpace (dGeomID)
|
||
|
|
dSpaceID dGeomGetSpace (dGeomID)
|
||
|
|
int dGeomGetClass (dGeomID)
|
||
|
|
|
||
|
|
void dGeomSetCategoryBits(dGeomID, unsigned long bits)
|
||
|
|
void dGeomSetCollideBits(dGeomID, unsigned long bits)
|
||
|
|
unsigned long dGeomGetCategoryBits(dGeomID)
|
||
|
|
unsigned long dGeomGetCollideBits(dGeomID)
|
||
|
|
|
||
|
|
void dGeomEnable (dGeomID)
|
||
|
|
void dGeomDisable (dGeomID)
|
||
|
|
int dGeomIsEnabled (dGeomID)
|
||
|
|
|
||
|
|
void dGeomGroupAdd (dGeomID group, dGeomID x)
|
||
|
|
void dGeomGroupRemove (dGeomID group, dGeomID x)
|
||
|
|
int dGeomGroupGetNumGeoms (dGeomID group)
|
||
|
|
dGeomID dGeomGroupGetGeom (dGeomID group, int i)
|
||
|
|
|
||
|
|
dGeomID dCreateGeomTransform (dSpaceID space)
|
||
|
|
void dGeomTransformSetGeom (dGeomID g, dGeomID obj)
|
||
|
|
dGeomID dGeomTransformGetGeom (dGeomID g)
|
||
|
|
void dGeomTransformSetCleanup (dGeomID g, int mode)
|
||
|
|
int dGeomTransformGetCleanup (dGeomID g)
|
||
|
|
void dGeomTransformSetInfo (dGeomID g, int mode)
|
||
|
|
int dGeomTransformGetInfo (dGeomID g)
|
||
|
|
|
||
|
|
int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip)
|
||
|
|
|
||
|
|
# Trimesh
|
||
|
|
dTriMeshDataID dGeomTriMeshDataCreate()
|
||
|
|
void dGeomTriMeshDataDestroy(dTriMeshDataID g)
|
||
|
|
void dGeomTriMeshDataBuildSingle1 (dTriMeshDataID g, void* Vertices,
|
||
|
|
int VertexStride, int VertexCount,
|
||
|
|
void* Indices, int IndexCount,
|
||
|
|
int TriStride, void* Normals)
|
||
|
|
|
||
|
|
void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
|
||
|
|
dReal* Vertices, int VertexCount,
|
||
|
|
int* Indices, int IndexCount)
|
||
|
|
|
||
|
|
dGeomID dCreateTriMesh (dSpaceID space, dTriMeshDataID Data,
|
||
|
|
void* Callback,
|
||
|
|
void* ArrayCallback,
|
||
|
|
void* RayCallback)
|
||
|
|
|
||
|
|
void dGeomTriMeshSetData (dGeomID g, dTriMeshDataID Data)
|
||
|
|
|
||
|
|
void dGeomTriMeshClearTCCache (dGeomID g)
|
||
|
|
|
||
|
|
void dGeomTriMeshGetTriangle (dGeomID g, int Index, dVector3 *v0,
|
||
|
|
dVector3 *v1, dVector3 *v2)
|
||
|
|
|
||
|
|
int dGeomTriMeshGetTriangleCount (dGeomID g)
|
||
|
|
|
||
|
|
void dGeomTriMeshGetPoint (dGeomID g, int Index, dReal u, dReal v,
|
||
|
|
dVector3 Out)
|
||
|
|
|
||
|
|
void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable)
|
||
|
|
int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass)
|
||
|
|
|
||
|
|
# Heightfield
|
||
|
|
dHeightfieldDataID dGeomHeightfieldDataCreate()
|
||
|
|
void dGeomHeightfieldDataDestroy(dHeightfieldDataID g)
|
||
|
|
void dGeomHeightfieldDataBuildCallback(dHeightfieldDataID d,
|
||
|
|
void* pUserData,
|
||
|
|
dHeightfieldGetHeight* pCallback,
|
||
|
|
dReal width, dReal depth,
|
||
|
|
int widthSamples, int depthSamples,
|
||
|
|
dReal scale, dReal offset,
|
||
|
|
dReal thickness, int bWrap)
|
||
|
|
dGeomID dCreateHeightfield (dSpaceID space, dHeightfieldDataID data,
|
||
|
|
int bPlaceable)
|
||
|
|
|