/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* 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.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* 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.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
#ifndef _ODE_OBJECTS_H_
#define _ODE_OBJECTS_H_
#include "ode_common.hpp"
#include "ode_mass.hpp"
#include "ode_contact.hpp"
#include "ode_threading.hpp"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @defgroup world World
*
* The world object is a container for rigid bodies and joints. Objects in
* different worlds can not interact, for example rigid bodies from two
* different worlds can not collide.
*
* All the objects in a world exist at the same point in time, thus one
* reason to use separate worlds is to simulate systems at different rates.
* Most applications will only need one world.
*/
/**
* @brief Create a new, empty world and return its ID number.
* @return an identifier
* @ingroup world
*/
ODE_API dWorldID dWorldCreate(void);
/**
* @brief Destroy a world and everything in it.
*
* This includes all bodies, and all joints that are not part of a joint
* group. Joints that are part of a joint group will be deactivated, and
* can be destroyed by calling, for example, dJointGroupEmpty().
* @ingroup world
* @param world the identifier for the world the be destroyed.
*/
ODE_API void dWorldDestroy (dWorldID world);
/**
* @brief Set the user-data pointer
* @param world the world to set the data on
* @param data
* @ingroup world
*/
ODE_API void dWorldSetData (dWorldID world, void* data);
/**
* @brief Get the user-data pointer
* @param world the world to set the data on
* @param data
* @ingroup world
*/
ODE_API void* dWorldGetData (dWorldID world);
/**
* @brief Set the world's global gravity vector.
*
* The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81),
* assuming that +z is up. The default is no gravity, i.e. (0,0,0).
*
* @ingroup world
*/
ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
/**
* @brief Get the gravity vector for a given world.
* @ingroup world
*/
ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity);
/**
* @brief Set the global ERP value, that controls how much error
* correction is performed in each time step.
* @ingroup world
* @param dWorldID the identifier of the world.
* @param erp Typical values are in the range 0.1--0.8. The default is 0.2.
*/
ODE_API void dWorldSetERP (dWorldID, dReal erp);
/**
* @brief Get the error reduction parameter.
* @ingroup world
* @return ERP value
*/
ODE_API dReal dWorldGetERP (dWorldID);
/**
* @brief Set the global CFM (constraint force mixing) value.
* @ingroup world
* @param cfm Typical values are in the range @m{10^{-9}} -- 1.
* The default is 10^-5 if single precision is being used, or 10^-10
* if double precision is being used.
*/
ODE_API void dWorldSetCFM (dWorldID, dReal cfm);
/**
* @brief Get the constraint force mixing value.
* @ingroup world
* @return CFM value
*/
ODE_API dReal dWorldGetCFM (dWorldID);
#define dWORLDSTEP_THREADCOUNT_UNLIMITED dTHREADING_THREAD_COUNT_UNLIMITED
/**
* @brief Set maximum threads to be used for island stepping
*
* The actual number of threads that is going to be used will be the minimum
* of this limit and number of threads in the threading pool. By default
* there is no limit (@c dWORLDSTEP_THREADCOUNT_UNLIMITED).
*
* @warning
* WARNING! Running island stepping in multiple threads requires allocating
* individual stepping memory buffer for each of those threads. The size of buffers
* allocated is the size needed to handle the largest island in the world.
*
* Note: Setting a limit for island stepping does not affect threading at lower
* levels in stepper functions. The sub-calls scheduled from them can be executed
* in as many threads as there are available in the pool.
*
* @param w The world affected
* @param count Thread count limit value for island stepping
* @ingroup world
* @see dWorldGetStepIslandsProcessingMaxThreadCount
*/
ODE_API void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count);
/**
* @brief Get maximum threads that are allowed to be used for island stepping.
*
* Please read commentaries to @c dWorldSetStepIslandsProcessingMaxThreadCount for
* important information regarding the value returned.
*
* @param w The world queried
* @returns Current thread count limit value for island stepping
* @ingroup world
* @see dWorldSetStepIslandsProcessingMaxThreadCount
*/
ODE_API unsigned dWorldGetStepIslandsProcessingMaxThreadCount(dWorldID w);
/**
* @brief Set the world to use shared working memory along with another world.
*
* The worlds allocate working memory internally for simulation stepping. This
* memory is cached among the calls to @c dWordStep and @c dWorldQuickStep.
* Similarly, several worlds can be set up to share this memory caches thus
* reducing overall memory usage by cost of making worlds inappropriate for
* simultaneous simulation in multiple threads.
*
* If null value is passed for @a from_world parameter the world is detached from
* sharing and returns to defaults for working memory, reservation policy and
* memory manager as if just created. This can also be used to enable use of shared
* memory for a world that has already had working memory allocated privately.
* Normally using shared memory after a world has its private working memory allocated
* is prohibited.
*
* Allocation policy used can only increase world's internal reserved memory size
* and never decreases it. @c dWorldCleanupWorkingMemory can be used to release
* working memory for a world in case if number of objects/joint decreases
* significantly in it.
*
* With sharing working memory worlds also automatically share memory reservation
* policy and memory manager. Thus, these parameters need to be customized for
* initial world to be used as sharing source only.
*
* If worlds share working memory they must also use compatible threading implementations
* (i.e. it is illegal for one world to perform stepping with self-threaded implementation
* when the other world is assigned a multi-threaded implementation).
* For more information read section about threading approaches in ODE.
*
* Failure result status means a memory allocation failure.
*
* @param w The world to use the shared memory with.
* @param from_world Null or the world the shared memory is to be used from.
* @returns 1 for success and 0 for failure.
*
* @ingroup world
* @see dWorldCleanupWorkingMemory
* @see dWorldSetStepMemoryReservationPolicy
* @see dWorldSetStepMemoryManager
*/
ODE_API int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world/*=NULL*/);
/**
* @brief Release internal working memory allocated for world
*
* The worlds allocate working memory internally for simulation stepping. This
* function can be used to free world's internal memory cache in case if number of
* objects/joints in the world decreases significantly. By default, internal
* allocation policy is used to only increase cache size as necessary and never
* decrease it.
*
* If a world shares its working memory with other worlds the cache deletion
* affects all the linked worlds. However the shared status itself remains intact.
*
* The function call does affect neither memory reservation policy nor memory manager.
*
* @param w The world to release working memory for.
*
* @ingroup world
* @see dWorldUseSharedWorkingMemory
* @see dWorldSetStepMemoryReservationPolicy
* @see dWorldSetStepMemoryManager
*/
ODE_API void dWorldCleanupWorkingMemory(dWorldID w);
#define dWORLDSTEP_RESERVEFACTOR_DEFAULT 1.2f
#define dWORLDSTEP_RESERVESIZE_DEFAULT 65536U
/**
* @struct dWorldStepReserveInfo
* @brief Memory reservation policy descriptor structure for world stepping functions.
*
* @c struct_size should be assigned the size of the structure.
*
* @c reserve_factor is a quotient that is multiplied by required memory size
* to allocate extra reserve whenever reallocation is needed.
*
* @c reserve_minimum is a minimum size that is checked against whenever reallocation
* is needed to allocate expected working memory minimum at once without extra
* reallocations as number of bodies/joints grows.
*
* @ingroup world
* @see dWorldSetStepMemoryReservationPolicy
*/
typedef struct
{
unsigned struct_size;
float reserve_factor; /* Use float as precision does not matter here*/
unsigned reserve_minimum;
} dWorldStepReserveInfo;
/**
* @brief Set memory reservation policy for world to be used with simulation stepping functions
*
* The function allows to customize reservation policy to be used for internal
* memory which is allocated to aid simulation for a world. By default, values
* of @c dWORLDSTEP_RESERVEFACTOR_DEFAULT and @c dWORLDSTEP_RESERVESIZE_DEFAULT
* are used.
*
* Passing @a policyinfo argument as NULL results in reservation policy being
* reset to defaults as if the world has been just created. The content of
* @a policyinfo structure is copied internally and does not need to remain valid
* after the call returns.
*
* If the world uses working memory sharing, changing memory reservation policy
* affects all the worlds linked together.
*
* Failure result status means a memory allocation failure.
*
* @param w The world to change memory reservation policy for.
* @param policyinfo Null or a pointer to policy descriptor structure.
* @returns 1 for success and 0 for failure.
*
* @ingroup world
* @see dWorldUseSharedWorkingMemory
*/
ODE_API int dWorldSetStepMemoryReservationPolicy(dWorldID w, const dWorldStepReserveInfo *policyinfo/*=NULL*/);
/**
* @struct dWorldStepMemoryFunctionsInfo
* @brief World stepping memory manager descriptor structure
*
* This structure is intended to define the functions of memory manager to be used
* with world stepping functions.
*
* @c struct_size should be assigned the size of the structure
*
* @c alloc_block is a function to allocate memory block of given size.
*
* @c shrink_block is a function to shrink existing memory block to a smaller size.
* It must preserve the contents of block head while shrinking. The new block size
* is guaranteed to be always less than the existing one.
*
* @c free_block is a function to delete existing memory block.
*
* @ingroup init
* @see dWorldSetStepMemoryManager
*/
typedef struct
{
unsigned struct_size;
void *(*alloc_block)(dsizeint block_size);
void *(*shrink_block)(void *block_pointer, dsizeint block_current_size, dsizeint block_smaller_size);
void (*free_block)(void *block_pointer, dsizeint block_current_size);
} dWorldStepMemoryFunctionsInfo;
/**
* @brief Set memory manager for world to be used with simulation stepping functions
*
* The function allows to customize memory manager to be used for internal
* memory allocation during simulation for a world. By default, @c dAlloc/@c dRealloc/@c dFree
* based memory manager is used.
*
* Passing @a memfuncs argument as NULL results in memory manager being
* reset to default one as if the world has been just created. The content of
* @a memfuncs structure is copied internally and does not need to remain valid
* after the call returns.
*
* If the world uses working memory sharing, changing memory manager
* affects all the worlds linked together.
*
* Failure result status means a memory allocation failure.
*
* @param w The world to change memory reservation policy for.
* @param memfuncs Null or a pointer to memory manager descriptor structure.
* @returns 1 for success and 0 for failure.
*
* @ingroup world
* @see dWorldUseSharedWorkingMemory
*/
ODE_API int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs);
/**
* @brief Assign threading implementation to be used for [quick]stepping the world.
*
* @warning It is not recommended to assign the same threading implementation to
* different worlds if they are going to be called in parallel. In particular this
* makes resources preallocation for threaded calls to lose its sense.
* Built-in threading implementation is likely to crash if misused this way.
*
* @param w The world to change threading implementation for.
* @param functions_info Pointer to threading functions structure
* @param threading_impl ID of threading implementation object
*
* @ingroup world
*/
ODE_API void dWorldSetStepThreadingImplementation(dWorldID w, const dThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl);
/**
* @brief Step the world.
*
* This uses a "big matrix" method that takes time on the order of m^3
* and memory on the order of m^2, where m is the total number of constraint
* rows. For large systems this will use a lot of memory and can be very slow,
* but this is currently the most accurate method.
*
* Failure result status means that the memory allocation has failed for operation.
* In such a case all the objects remain in unchanged state and simulation can be
* retried as soon as more memory is available.
*
* @param w The world to be stepped
* @param stepsize The number of seconds that the simulation has to advance.
* @returns 1 for success and 0 for failure
*
* @ingroup world
*/
ODE_API int dWorldStep (dWorldID w, dReal stepsize);
/**
* @brief Quick-step the world.
*
* This uses an iterative method that takes time on the order of m*N
* and memory on the order of m, where m is the total number of constraint
* rows N is the number of iterations.
* For large systems this is a lot faster than dWorldStep(),
* but it is less accurate.
*
* QuickStep is great for stacks of objects especially when the
* auto-disable feature is used as well.
* However, it has poor accuracy for near-singular systems.
* Near-singular systems can occur when using high-friction contacts, motors,
* or certain articulated structures. For example, a robot with multiple legs
* sitting on the ground may be near-singular.
*
* There are ways to help overcome QuickStep's inaccuracy problems:
*
* \li Increase CFM.
* \li Reduce the number of contacts in your system (e.g. use the minimum
* number of contacts for the feet of a robot or creature).
* \li Don't use excessive friction in the contacts.
* \li Use contact slip if appropriate
* \li Avoid kinematic loops (however, kinematic loops are inevitable in
* legged creatures).
* \li Don't use excessive motor strength.
* \liUse force-based motors instead of velocity-based motors.
*
* Increasing the number of QuickStep iterations may help a little bit, but
* it is not going to help much if your system is really near singular.
*
* Failure result status means that the memory allocation has failed for operation.
* In such a case all the objects remain in unchanged state and simulation can be
* retried as soon as more memory is available.
*
* @param w The world to be stepped
* @param stepsize The number of seconds that the simulation has to advance.
* @returns 1 for success and 0 for failure
*
* @ingroup world
*/
ODE_API int dWorldQuickStep (dWorldID w, dReal stepsize);
/**
* @brief Converts an impulse to a force.
* @ingroup world
* @remarks
* If you want to apply a linear or angular impulse to a rigid body,
* instead of a force or a torque, then you can use this function to convert
* the desired impulse into a force/torque vector before calling the
* BodyAdd... function.
* The current algorithm simply scales the impulse by 1/stepsize,
* where stepsize is the step size for the next step that will be taken.
* This function is given a dWorldID because, in the future, the force
* computation may depend on integrator parameters that are set as
* properties of the world.
*/
ODE_API void dWorldImpulseToForce
(
dWorldID, dReal stepsize,
dReal ix, dReal iy, dReal iz, dVector3 force
);
#define dWORLDQUICKSTEP_ITERATION_COUNT_DEFAULT 20U
/**
* @brief Set the number of iterations that the QuickStep method performs per
* step.
* @ingroup world
* @remarks
* More iterations will give a more accurate solution, but will take
* longer to compute.
* @param num The default is dWORLDQUICKSTEP_ITERATION_COUNT_DEFAULT iterations.
*/
ODE_API void dWorldSetQuickStepNumIterations (dWorldID w, int num);
/**
* @brief Get the number of iterations that the QuickStep method performs per
* step.
* @ingroup world
* @return nr of iterations
*/
ODE_API int dWorldGetQuickStepNumIterations (dWorldID);
#define dWORLDQUICKSTEP_ITERATION_PREMATURE_EXIT_DELTA_DEFAULT 1e-8f
#define dWORLDQUICKSTEP_MAXIMAL_EXTRA_ITERATION_COUNT_FACTOR_DEFAULT 1.0f
#define dWORLDQUICKSTEP_EXTRA_ITERATION_REQUIREMENT_DELTA_DEFAULT 1e-2f
/**
* @brief Configure QuickStep method dynamic iteration count adjustment.
* @ingroup world
* @remarks
* The function controls dynamic iteration count adjustment basing on maximal contact force change
* per iteration in matrix.
*
* If Premature Exit Delta is configured with @p ptr_iteration_premature_exit_delta
* and the maximal contact force adjustment does not exceed the value the iterations are abandoned
* prematurely and computations complete in fewer steps than it would take normally.
* Passing zero in @p ptr_iteration_premature_exit_delta will disable the premature exit and enforce
* unconditional execution of iteration count set by @fn dWorldSetQuickStepNumIterations.
*
* If extra iterations are enabled by passing a positive fraction in @p ptr_max_num_extra_factor
* and, after the normal number of iterations is executed, the maximal contact force adjustment is still
* larger than the limit set with the @ptr_extra_iteration_requirement_delta, up to that fraction of
* normal iteration count is executed extra until the maximal contact force change falls below the margin.
*
* At least one parameter must be not NULL for the call.
* If NULL is passed for any of the parameters the corresponding parameter will retain its previous value.
* If the standard number of iterations is changed with @fn dWorldSetQuickStepNumIterations call and
* an extra iteration count was configured with @p ptr_max_num_extra_factor the extra absolute value will be
* adjusted accordingly.
*
* @param ptr_iteration_premature_exit_delta A margin value such that, if contact force adjustment value maximum in an iteration
* becomes less, the method is allowed to terminate prematurely.
* @param ptr_max_num_extra_factor A non-negative coefficient that defines fraction of the standard iteration count to be executed extra
* if contact force still significantly changes after the standard iterations complete.
* @param ptr_extra_iteration_requirement_delta A margin that defines when the extra iterations are not needed or can be abandoned after
* the start.
* @see dWorldGetQuickStepDynamicIterationParameters
*/
ODE_API void dWorldSetQuickStepDynamicIterationParameters(dWorldID w, const dReal *ptr_iteration_premature_exit_delta/*=NULL*/,
const dReal *ptr_max_num_extra_factor/*=NULL*/, const dReal *ptr_extra_iteration_requirement_delta/*=NULL*/);
/**
* @brief Retrieve QuickStep method dynamic iteration count adjustment parameters.
* @ingroup world
* @remarks
* The function retrieves dynamic iteration count adjustment parameters.
*
* See @fn dWorldSetQuickStepDynamicIterationParameters for the parameters description.
*
* At least one parameter must be not NULL for the call.
*
* @param out_iteration_premature_exit_delta Premature Exit Delta value (can be NULL if the value is not needed).
* @param out_max_num_extra_factor Maximum Extra Iteration Number Factor value (can be NULL if the value is not needed).
* @param out_extra_iteration_requirement_delta Extra Iteration Requirement Delta value (can be NULL if the value is not needed).
* @see dWorldSetQuickStepDynamicIterationParameters
*/
ODE_API void dWorldGetQuickStepDynamicIterationParameters(dWorldID w, dReal *out_iteration_premature_exit_delta/*=NULL*/,
dReal *out_max_num_extra_factor/*=NULL*/, dReal *out_extra_iteration_requirement_delta/*=NULL*/);
/**
* @brief Statistics structure to accumulate QuickStep iteration couunt dynamic adjustment data.
* @ingroup world
*
* @see @fn dWorldAttachQuickStepDynamicIterationStatisticsSink
*
*/
typedef struct
{
unsigned struct_size; /*< to be initialized with the structure size */
duint32 iteration_count; /*< number of iterations executed */
duint32 premature_exits; /*< number of times solution took fewer than the regular iteration count */
duint32 prolonged_execs; /*< number of times solution took more than the regular iteration count */
duint32 full_extra_execs; /*< number of times the assigned exit criteria were not achieved even after all extra iterations allowed */
} dWorldQuickStepIterationCount_DynamicAdjustmentStatistics;
ODE_PURE_INLINE
void dWorldInitializeQuickStepIterationCount_DynamicAdjustmentStatistics(dWorldQuickStepIterationCount_DynamicAdjustmentStatistics *ptr_stat)
{
memset(ptr_stat, 0, sizeof(*ptr_stat));
ptr_stat->struct_size = sizeof(*ptr_stat);
}
/**
* @brief Attach or remove a structure to collect QuickStep iteration count dynamic adjustment statistics.
* @ingroup world
* @remarks
* The function can be used to attach or remove a structure instance that will be updated with iteration count dynamic adjustment statistics
* of QuickStep. To break the attachment, the function must be called with NULL for the @p var_stats.
*
* See @fn dWorldSetQuickStepDynamicIterationParameters for information on the iteration count dynamic adjustment options.
*
* The caller is responsible for initializing the structure before assignment. The structure must persist in memory until unattached or
* the host world object is destroyed. The same structure instance may be shared among multiple worlds if that makes sense.
*
* The assignment may fail if the feature is not configured within the library, or if the structure was not initialized properly.
*
* @param var_stats A pointer to structure instance to assigned or NULL to break the previous attachment for the world.
* @return Boolean status indicating whether the function succeeded
* @see dWorldQuickStepIterationCount_DynamicAdjustmentStatistics
*/
ODE_API int dWorldAttachQuickStepDynamicIterationStatisticsSink(dWorldID w, dWorldQuickStepIterationCount_DynamicAdjustmentStatistics *var_stats/*=NULL*/);
/**
* @brief Set the SOR over-relaxation parameter
* @ingroup world
* @param over_relaxation value to use by SOR
*/
ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation);
/**
* @brief Get the SOR over-relaxation parameter
* @ingroup world
* @returns the over-relaxation setting
*/
ODE_API dReal dWorldGetQuickStepW (dWorldID);
/* World contact parameter functions */
/**
* @brief Set the maximum correcting velocity that contacts are allowed
* to generate.
* @ingroup world
* @param vel The default value is infinity (i.e. no limit).
* @remarks
* Reducing this value can help prevent "popping" of deeply embedded objects.
*/
ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel);
/**
* @brief Get the maximum correcting velocity that contacts are allowed
* to generated.
* @ingroup world
*/
ODE_API dReal dWorldGetContactMaxCorrectingVel (dWorldID);
/**
* @brief Set the depth of the surface layer around all geometry objects.
* @ingroup world
* @remarks
* Contacts are allowed to sink into the surface layer up to the given
* depth before coming to rest.
* @param depth The default value is zero.
* @remarks
* Increasing this to some small value (e.g. 0.001) can help prevent
* jittering problems due to contacts being repeatedly made and broken.
*/
ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth);
/**
* @brief Get the depth of the surface layer around all geometry objects.
* @ingroup world
* @returns the depth
*/
ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID);
/**
* @defgroup disable Automatic Enabling and Disabling
* @ingroup world bodies
*
* Every body can be enabled or disabled. Enabled bodies participate in the
* simulation, while disabled bodies are turned off and do not get updated
* during a simulation step. New bodies are always created in the enabled state.
*
* A disabled body that is connected through a joint to an enabled body will be
* automatically re-enabled at the next simulation step.
*
* Disabled bodies do not consume CPU time, therefore to speed up the simulation
* bodies should be disabled when they come to rest. This can be done automatically
* with the auto-disable feature.
*
* If a body has its auto-disable flag turned on, it will automatically disable
* itself when
* @li It has been idle for a given number of simulation steps.
* @li It has also been idle for a given amount of simulation time.
*
* A body is considered to be idle when the magnitudes of both its
* linear average velocity and angular average velocity are below given thresholds.
* The sample size for the average defaults to one and can be disabled by setting
* to zero with
*
* Thus, every body has six auto-disable parameters: an enabled flag, a idle step
* count, an idle time, linear/angular average velocity thresholds, and the
* average samples count.
*
* Newly created bodies get these parameters from world.
*/
/**
* @brief Get auto disable linear average threshold for newly created bodies.
* @ingroup disable
* @return the threshold
*/
ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID);
/**
* @brief Set auto disable linear average threshold for newly created bodies.
* @param linear_average_threshold default is 0.01
* @ingroup disable
*/
ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_average_threshold);
/**
* @brief Get auto disable angular average threshold for newly created bodies.
* @ingroup disable
* @return the threshold
*/
ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID);
/**
* @brief Set auto disable angular average threshold for newly created bodies.
* @param linear_average_threshold default is 0.01
* @ingroup disable
*/
ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_average_threshold);
/**
* @brief Get auto disable sample count for newly created bodies.
* @ingroup disable
* @return number of samples used
*/
ODE_API int dWorldGetAutoDisableAverageSamplesCount (dWorldID);
/**
* @brief Set auto disable average sample count for newly created bodies.
* @ingroup disable
* @param average_samples_count Default is 1, meaning only instantaneous velocity is used.
* Set to zero to disable sampling and thus prevent any body from auto-disabling.
*/
ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count );
/**
* @brief Get auto disable steps for newly created bodies.
* @ingroup disable
* @return nr of steps
*/
ODE_API int dWorldGetAutoDisableSteps (dWorldID);
/**
* @brief Set auto disable steps for newly created bodies.
* @ingroup disable
* @param steps default is 10
*/
ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps);
/**
* @brief Get auto disable time for newly created bodies.
* @ingroup disable
* @return nr of seconds
*/
ODE_API dReal dWorldGetAutoDisableTime (dWorldID);
/**
* @brief Set auto disable time for newly created bodies.
* @ingroup disable
* @param time default is 0 seconds
*/
ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time);
/**
* @brief Get auto disable flag for newly created bodies.
* @ingroup disable
* @return 0 or 1
*/
ODE_API int dWorldGetAutoDisableFlag (dWorldID);
/**
* @brief Set auto disable flag for newly created bodies.
* @ingroup disable
* @param do_auto_disable default is false.
*/
ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable);
/**
* @defgroup damping Damping
* @ingroup bodies world
*
* Damping serves two purposes: reduce simulation instability, and to allow
* the bodies to come to rest (and possibly auto-disabling them).
*
* Bodies are constructed using the world's current damping parameters. Setting
* the scales to 0 disables the damping.
*
* Here is how it is done: after every time step linear and angular
* velocities are tested against the corresponding thresholds. If they
* are above, they are multiplied by (1 - scale). So a negative scale value
* will actually increase the speed, and values greater than one will
* make the object oscillate every step; both can make the simulation unstable.
*
* To disable damping just set the damping scale to zero.
*
* You can also limit the maximum angular velocity. In contrast to the damping
* functions, the angular velocity is affected before the body is moved.
* This means that it will introduce errors in joints that are forcing the body
* to rotate too fast. Some bodies have naturally high angular velocities
* (like cars' wheels), so you may want to give them a very high (like the default,
* dInfinity) limit.
*
* @note The velocities are damped after the stepper function has moved the
* object. Otherwise the damping could introduce errors in joints. First the
* joint constraints are processed by the stepper (moving the body), then
* the damping is applied.
*
* @note The damping happens right after the moved callback is called; this way
* it still possible use the exact velocities the body has acquired during the
* step. You can even use the callback to create your own customized damping.
*/
/**
* @brief Get the world's linear damping threshold.
* @ingroup damping
*/
ODE_API dReal dWorldGetLinearDampingThreshold (dWorldID w);
/**
* @brief Set the world's linear damping threshold.
* @param threshold The damping won't be applied if the linear speed is
* below this threshold. Default is 0.01.
* @ingroup damping
*/
ODE_API void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold);
/**
* @brief Get the world's angular damping threshold.
* @ingroup damping
*/
ODE_API dReal dWorldGetAngularDampingThreshold (dWorldID w);
/**
* @brief Set the world's angular damping threshold.
* @param threshold The damping won't be applied if the angular speed is
* below this threshold. Default is 0.01.
* @ingroup damping
*/
ODE_API void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold);
/**
* @brief Get the world's linear damping scale.
* @ingroup damping
*/
ODE_API dReal dWorldGetLinearDamping (dWorldID w);
/**
* @brief Set the world's linear damping scale.
* @param scale The linear damping scale that is to be applied to bodies.
* Default is 0 (no damping). Should be in the interval [0, 1].
* @ingroup damping
*/
ODE_API void dWorldSetLinearDamping (dWorldID w, dReal scale);
/**
* @brief Get the world's angular damping scale.
* @ingroup damping
*/
ODE_API dReal dWorldGetAngularDamping (dWorldID w);
/**
* @brief Set the world's angular damping scale.
* @param scale The angular damping scale that is to be applied to bodies.
* Default is 0 (no damping). Should be in the interval [0, 1].
* @ingroup damping
*/
ODE_API void dWorldSetAngularDamping(dWorldID w, dReal scale);
/**
* @brief Convenience function to set body linear and angular scales.
* @param linear_scale The linear damping scale that is to be applied to bodies.
* @param angular_scale The angular damping scale that is to be applied to bodies.
* @ingroup damping
*/
ODE_API void dWorldSetDamping(dWorldID w,
dReal linear_scale,
dReal angular_scale);
/**
* @brief Get the default maximum angular speed.
* @ingroup damping
* @sa dBodyGetMaxAngularSpeed()
*/
ODE_API dReal dWorldGetMaxAngularSpeed (dWorldID w);
/**
* @brief Set the default maximum angular speed for new bodies.
* @ingroup damping
* @sa dBodySetMaxAngularSpeed()
*/
ODE_API void dWorldSetMaxAngularSpeed (dWorldID w, dReal max_speed);
/**
* @defgroup bodies Rigid Bodies
*
* A rigid body has various properties from the point of view of the
* simulation. Some properties change over time:
*
* @li Position vector (x,y,z) of the body's point of reference.
* Currently the point of reference must correspond to the body's center of mass.
* @li Linear velocity of the point of reference, a vector (vx,vy,vz).
* @li Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or
* a 3x3 rotation matrix.
* @li Angular velocity vector (wx,wy,wz) which describes how the orientation
* changes over time.
*
* Other body properties are usually constant over time:
*
* @li Mass of the body.
* @li Position of the center of mass with respect to the point of reference.
* In the current implementation the center of mass and the point of
* reference must coincide.
* @li Inertia matrix. This is a 3x3 matrix that describes how the body's mass
* is distributed around the center of mass. Conceptually each body has an
* x-y-z coordinate frame embedded in it that moves and rotates with the body.
*
* The origin of this coordinate frame is the body's point of reference. Some values
* in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others
* are relative to the global coordinate frame.
*
* 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.
*/
/**
* @brief Get auto disable linear average threshold.
* @ingroup bodies disable
* @return the threshold
*/
ODE_API dReal dBodyGetAutoDisableLinearThreshold (dBodyID);
/**
* @brief Set auto disable linear average threshold.
* @ingroup bodies disable
* @return the threshold
*/
ODE_API void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold);
/**
* @brief Get auto disable angular average threshold.
* @ingroup bodies disable
* @return the threshold
*/
ODE_API dReal dBodyGetAutoDisableAngularThreshold (dBodyID);
/**
* @brief Set auto disable angular average threshold.
* @ingroup bodies disable
* @return the threshold
*/
ODE_API void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold);
/**
* @brief Get auto disable average size (samples count).
* @ingroup bodies disable
* @return the nr of steps/size.
*/
ODE_API int dBodyGetAutoDisableAverageSamplesCount (dBodyID);
/**
* @brief Set auto disable average buffer size (average steps).
* @ingroup bodies disable
* @param average_samples_count the nr of samples to review.
*/
ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count);
/**
* @brief Get auto steps a body must be thought of as idle to disable
* @ingroup bodies disable
* @return the nr of steps
*/
ODE_API int dBodyGetAutoDisableSteps (dBodyID);
/**
* @brief Set auto disable steps.
* @ingroup bodies disable
* @param steps the nr of steps.
*/
ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps);
/**
* @brief Get auto disable time.
* @ingroup bodies disable
* @return nr of seconds
*/
ODE_API dReal dBodyGetAutoDisableTime (dBodyID);
/**
* @brief Set auto disable time.
* @ingroup bodies disable
* @param time nr of seconds.
*/
ODE_API void dBodySetAutoDisableTime (dBodyID, dReal time);
/**
* @brief Get auto disable flag.
* @ingroup bodies disable
* @return 0 or 1
*/
ODE_API int dBodyGetAutoDisableFlag (dBodyID);
/**
* @brief Set auto disable flag.
* @ingroup bodies disable
* @param do_auto_disable 0 or 1
*/
ODE_API void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable);
/**
* @brief Set auto disable defaults.
* @remarks
* Set the values for the body to those set as default for the world.
* @ingroup bodies disable
*/
ODE_API void dBodySetAutoDisableDefaults (dBodyID);
/**
* @brief Retrieves the world attached to te given body.
* @remarks
*
* @ingroup bodies
*/
ODE_API dWorldID dBodyGetWorld (dBodyID);
/**
* @brief Create a body in given world.
* @remarks
* Default mass parameters are at position (0,0,0).
* @ingroup bodies
*/
ODE_API dBodyID dBodyCreate (dWorldID);
/**
* @brief Destroy a body.
* @remarks
* All joints that are attached to this body will be put into limbo:
* i.e. unattached and not affecting the simulation, but they will NOT be
* deleted.
* @ingroup bodies
*/
ODE_API void dBodyDestroy (dBodyID);
/**
* @brief Set the body's user-data pointer.
* @ingroup bodies
* @param data arbitraty pointer
*/
ODE_API void dBodySetData (dBodyID, void *data);
/**
* @brief Get the body's user-data pointer.
* @ingroup bodies
* @return a pointer to the user's data.
*/
ODE_API void *dBodyGetData (dBodyID);
/**
* @brief Set position of a body.
* @remarks
* After setting, the outcome of the simulation is undefined
* if the new configuration is inconsistent with the joints/constraints
* that are present.
* @ingroup bodies
*/
ODE_API void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z);
/**
* @brief Set the orientation of a body.
* @ingroup bodies
* @remarks
* After setting, the outcome of the simulation is undefined
* if the new configuration is inconsistent with the joints/constraints
* that are present.
*/
ODE_API void dBodySetRotation (dBodyID, const dMatrix3 R);
/**
* @brief Set the orientation of a body.
* @ingroup bodies
* @remarks
* After setting, the outcome of the simulation is undefined
* if the new configuration is inconsistent with the joints/constraints
* that are present.
*/
ODE_API void dBodySetQuaternion (dBodyID, const dQuaternion q);
/**
* @brief Set the linear velocity of a body.
* @ingroup bodies
*/
ODE_API void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z);
/**
* @brief Set the angular velocity of a body.
* @ingroup bodies
*/
ODE_API void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
/**
* @brief Get the position of a body.
* @ingroup bodies
* @remarks
* When getting, the returned values are pointers to internal data structures,
* so the vectors are valid until any changes are made to the rigid body
* system structure.
* @sa dBodyCopyPosition
*/
ODE_API const dReal * dBodyGetPosition (dBodyID);
/**
* @brief Copy the position of a body into a vector.
* @ingroup bodies
* @param body the body to query
* @param pos a copy of the body position
* @sa dBodyGetPosition
*/
ODE_API void dBodyCopyPosition (dBodyID body, dVector3 pos);
/**
* @brief Get the rotation of a body.
* @ingroup bodies
* @return pointer to a 4x3 rotation matrix.
*/
ODE_API const dReal * dBodyGetRotation (dBodyID);
/**
* @brief Copy the rotation of a body.
* @ingroup bodies
* @param body the body to query
* @param R a copy of the rotation matrix
* @sa dBodyGetRotation
*/
ODE_API void dBodyCopyRotation (dBodyID, dMatrix3 R);
/**
* @brief Get the rotation of a body.
* @ingroup bodies
* @return pointer to 4 scalars that represent the quaternion.
*/
ODE_API const dReal * dBodyGetQuaternion (dBodyID);
/**
* @brief Copy the orientation of a body into a quaternion.
* @ingroup bodies
* @param body the body to query
* @param quat a copy of the orientation quaternion
* @sa dBodyGetQuaternion
*/
ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat);
/**
* @brief Get the linear velocity of a body.
* @ingroup bodies
*/
ODE_API const dReal * dBodyGetLinearVel (dBodyID);
/**
* @brief Get the angular velocity of a body.
* @ingroup bodies
*/
ODE_API const dReal * dBodyGetAngularVel (dBodyID);
/**
* @brief Set the mass of a body.
* @ingroup bodies
*/
ODE_API void dBodySetMass (dBodyID, const dMass *mass);
/**
* @brief Get the mass of a body.
* @ingroup bodies
*/
ODE_API void dBodyGetMass (dBodyID, dMass *mass);
/**
* @brief Add force at centre of mass of body in absolute coordinates.
* @ingroup bodies
*/
ODE_API void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz);
/**
* @brief Add torque at centre of mass of body in absolute coordinates.
* @ingroup bodies
*/
ODE_API void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz);
/**
* @brief Add force at centre of mass of body in coordinates relative to body.
* @ingroup bodies
*/
ODE_API void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz);
/**
* @brief Add torque at centre of mass of body in coordinates relative to body.
* @ingroup bodies
*/
ODE_API void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz);
/**
* @brief Add force at specified point in body in global coordinates.
* @ingroup bodies
*/
ODE_API void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz);
/**
* @brief Add force at specified point in body in local coordinates.
* @ingroup bodies
*/
ODE_API void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz);
/**
* @brief Add force at specified point in body in global coordinates.
* @ingroup bodies
*/
ODE_API void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz);
/**
* @brief Add force at specified point in body in local coordinates.
* @ingroup bodies
*/
ODE_API void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz);
/**
* @brief Return the current accumulated force vector.
* @return points to an array of 3 reals.
* @remarks
* The returned values are pointers to internal data structures, so
* the vectors are only valid until any changes are made to the rigid
* body system.
* @ingroup bodies
*/
ODE_API const dReal * dBodyGetForce (dBodyID);
/**
* @brief Return the current accumulated torque vector.
* @return points to an array of 3 reals.
* @remarks
* The returned values are pointers to internal data structures, so
* the vectors are only valid until any changes are made to the rigid
* body system.
* @ingroup bodies
*/
ODE_API const dReal * dBodyGetTorque (dBodyID);
/**
* @brief Set the body force accumulation vector.
* @remarks
* This is mostly useful to zero the force and torque for deactivated bodies
* before they are reactivated, in the case where the force-adding functions
* were called on them while they were deactivated.
* @ingroup bodies
*/
ODE_API void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z);
/**
* @brief Set the body torque accumulation vector.
* @remarks
* This is mostly useful to zero the force and torque for deactivated bodies
* before they are reactivated, in the case where the force-adding functions
* were called on them while they were deactivated.
* @ingroup bodies
*/
ODE_API void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
/**
* @brief Get world position of a relative point on body.
* @ingroup bodies
* @param result will contain the result.
*/
ODE_API void dBodyGetRelPointPos
(
dBodyID, dReal px, dReal py, dReal pz,
dVector3 result
);
/**
* @brief Get velocity vector in global coords of a relative point on body.
* @ingroup bodies
* @param result will contain the result.
*/
ODE_API void dBodyGetRelPointVel
(
dBodyID, dReal px, dReal py, dReal pz,
dVector3 result
);
/**
* @brief Get velocity vector in global coords of a globally
* specified point on a body.
* @ingroup bodies
* @param result will contain the result.
*/
ODE_API void dBodyGetPointVel
(
dBodyID, dReal px, dReal py, dReal pz,
dVector3 result
);
/**
* @brief takes a point in global coordinates and returns
* the point's position in body-relative coordinates.
* @remarks
* This is the inverse of dBodyGetRelPointPos()
* @ingroup bodies
* @param result will contain the result.
*/
ODE_API void dBodyGetPosRelPoint
(
dBodyID, dReal px, dReal py, dReal pz,
dVector3 result
);
/**
* @brief Convert from local to world coordinates.
* @ingroup bodies
* @param result will contain the result.
*/
ODE_API void dBodyVectorToWorld
(
dBodyID, dReal px, dReal py, dReal pz,
dVector3 result
);
/**
* @brief Convert from world to local coordinates.
* @ingroup bodies
* @param result will contain the result.
*/
ODE_API void dBodyVectorFromWorld
(
dBodyID, dReal px, dReal py, dReal pz,
dVector3 result
);
/**
* @brief controls the way a body's orientation is updated at each timestep.
* @ingroup bodies
* @param mode can be 0 or 1:
* \li 0: An ``infinitesimal'' orientation update is used.
* This is fast to compute, but it can occasionally cause inaccuracies
* for bodies that are rotating at high speed, especially when those
* bodies are joined to other bodies.
* This is the default for every new body that is created.
* \li 1: A ``finite'' orientation update is used.
* This is more costly to compute, but will be more accurate for high
* speed rotations.
* @remarks
* Note however that high speed rotations can result in many types of
* error in a simulation, and the finite mode will only fix one of those
* sources of error.
*/
ODE_API void dBodySetFiniteRotationMode (dBodyID, int mode);
/**
* @brief sets the finite rotation axis for a body.
* @ingroup bodies
* @remarks
* This is axis only has meaning when the finite rotation mode is set
* If this axis is zero (0,0,0), full finite rotations are performed on
* the body.
* If this axis is nonzero, the body is rotated by performing a partial finite
* rotation along the axis direction followed by an infinitesimal rotation
* along an orthogonal direction.
* @remarks
* 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 dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
/**
* @brief Get the way a body's orientation is updated each timestep.
* @ingroup bodies
* @return the mode 0 (infitesimal) or 1 (finite).
*/
ODE_API int dBodyGetFiniteRotationMode (dBodyID);
/**
* @brief Get the finite rotation axis.
* @param result will contain the axis.
* @ingroup bodies
*/
ODE_API void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
/**
* @brief Get the number of joints that are attached to this body.
* @ingroup bodies
* @return nr of joints
*/
ODE_API int dBodyGetNumJoints (dBodyID b);
/**
* @brief Return a joint attached to this body, given by index.
* @ingroup bodies
* @param index valid range is 0 to n-1 where n is the value returned by
* dBodyGetNumJoints().
*/
ODE_API dJointID dBodyGetJoint (dBodyID, int index);
/**
* @brief Set rigid body to dynamic state (default).
* @param dBodyID identification of body.
* @ingroup bodies
*/
ODE_API void dBodySetDynamic (dBodyID);
/**
* @brief Set rigid body to kinematic state.
* When in kinematic state the body isn't simulated as a dynamic
* body (it's "unstoppable", doesn't respond to forces),
* but can still affect dynamic bodies (e.g. in joints).
* Kinematic bodies can be controlled by position and velocity.
* @note A kinematic body has infinite mass. If you set its mass
* to something else, it loses the kinematic state and behaves
* as a normal dynamic body.
* @param dBodyID identification of body.
* @ingroup bodies
*/
ODE_API void dBodySetKinematic (dBodyID);
/**
* @brief Check wether a body is in kinematic state.
* @ingroup bodies
* @return 1 if a body is kinematic or 0 if it is dynamic.
*/
ODE_API int dBodyIsKinematic (dBodyID);
/**
* @brief Manually enable a body.
* @param dBodyID identification of body.
* @ingroup bodies
*/
ODE_API void dBodyEnable (dBodyID);
/**
* @brief Manually disable a body.
* @ingroup bodies
* @remarks
* A disabled body that is connected through a joint to an enabled body will
* be automatically re-enabled at the next simulation step.
*/
ODE_API void dBodyDisable (dBodyID);
/**
* @brief Check wether a body is enabled.
* @ingroup bodies
* @return 1 if a body is currently enabled or 0 if it is disabled.
*/
ODE_API int dBodyIsEnabled (dBodyID);
/**
* @brief Set whether the body is influenced by the world's gravity or not.
* @ingroup bodies
* @param mode when nonzero gravity affects this body.
* @remarks
* Newly created bodies are always influenced by the world's gravity.
*/
ODE_API void dBodySetGravityMode (dBodyID b, int mode);
/**
* @brief Get whether the body is influenced by the world's gravity or not.
* @ingroup bodies
* @return nonzero means gravity affects this body.
*/
ODE_API int dBodyGetGravityMode (dBodyID b);
/**
* @brief Set the 'moved' callback of a body.
*
* Whenever a body has its position or rotation changed during the
* timestep, the callback will be called (with body as the argument).
* Use it to know which body may need an update in an external
* structure (like a 3D engine).
*
* @param b the body that needs to be watched.
* @param callback the callback to be invoked when the body moves. Set to zero
* to disable.
* @ingroup bodies
*/
ODE_API void dBodySetMovedCallback(dBodyID b, void (*callback)(dBodyID));
/**
* @brief Return the first geom associated with the body.
*
* You can traverse through the geoms by repeatedly calling
* dBodyGetNextGeom().
*
* @return the first geom attached to this body, or 0.
* @ingroup bodies
*/
ODE_API dGeomID dBodyGetFirstGeom (dBodyID b);
/**
* @brief returns the next geom associated with the same body.
* @param g a geom attached to some body.
* @return the next geom attached to the same body, or 0.
* @sa dBodyGetFirstGeom
* @ingroup bodies
*/
ODE_API dGeomID dBodyGetNextGeom (dGeomID g);
/**
* @brief Resets the damping settings to the current world's settings.
* @ingroup bodies damping
*/
ODE_API void dBodySetDampingDefaults(dBodyID b);
/**
* @brief Get the body's linear damping scale.
* @ingroup bodies damping
*/
ODE_API dReal dBodyGetLinearDamping (dBodyID b);
/**
* @brief Set the body's linear damping scale.
* @param scale The linear damping scale. Should be in the interval [0, 1].
* @ingroup bodies damping
* @remarks From now on the body will not use the world's linear damping
* scale until dBodySetDampingDefaults() is called.
* @sa dBodySetDampingDefaults()
*/
ODE_API void dBodySetLinearDamping(dBodyID b, dReal scale);
/**
* @brief Get the body's angular damping scale.
* @ingroup bodies damping
* @remarks If the body's angular damping scale was not set, this function
* returns the world's angular damping scale.
*/
ODE_API dReal dBodyGetAngularDamping (dBodyID b);
/**
* @brief Set the body's angular damping scale.
* @param scale The angular damping scale. Should be in the interval [0, 1].
* @ingroup bodies damping
* @remarks From now on the body will not use the world's angular damping
* scale until dBodyResetAngularDamping() is called.
* @sa dBodyResetAngularDamping()
*/
ODE_API void dBodySetAngularDamping(dBodyID b, dReal scale);
/**
* @brief Convenience function to set linear and angular scales at once.
* @param linear_scale The linear damping scale. Should be in the interval [0, 1].
* @param angular_scale The angular damping scale. Should be in the interval [0, 1].
* @ingroup bodies damping
* @sa dBodySetLinearDamping() dBodySetAngularDamping()
*/
ODE_API void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale);
/**
* @brief Get the body's linear damping threshold.
* @ingroup bodies damping
*/
ODE_API dReal dBodyGetLinearDampingThreshold (dBodyID b);
/**
* @brief Set the body's linear damping threshold.
* @param threshold The linear threshold to be used. Damping
* is only applied if the linear speed is above this limit.
* @ingroup bodies damping
*/
ODE_API void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold);
/**
* @brief Get the body's angular damping threshold.
* @ingroup bodies damping
*/
ODE_API dReal dBodyGetAngularDampingThreshold (dBodyID b);
/**
* @brief Set the body's angular damping threshold.
* @param threshold The angular threshold to be used. Damping is
* only used if the angular speed is above this limit.
* @ingroup bodies damping
*/
ODE_API void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold);
/**
* @brief Get the body's maximum angular speed.
* @ingroup damping bodies
* @sa dWorldGetMaxAngularSpeed()
*/
ODE_API dReal dBodyGetMaxAngularSpeed (dBodyID b);
/**
* @brief Set the body's maximum angular speed.
* @ingroup damping bodies
* @sa dWorldSetMaxAngularSpeed() dBodyResetMaxAngularSpeed()
* The default value is dInfinity, but it's a good idea to limit
* it at less than 500 if the body has the gyroscopic term
* enabled.
*/
ODE_API void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed);
/**
* @brief Get the body's gyroscopic state.
*
* @return nonzero if gyroscopic term computation is enabled (default),
* zero otherwise.
* @ingroup bodies
*/
ODE_API int dBodyGetGyroscopicMode(dBodyID b);
/**
* @brief Enable/disable the body's gyroscopic term.
*
* Disabling the gyroscopic term of a body usually improves
* stability. It also helps turning spining objects, like cars'
* wheels.
*
* @param enabled nonzero (default) to enable gyroscopic term, 0
* to disable.
* @ingroup bodies
*/
ODE_API void dBodySetGyroscopicMode(dBodyID b, int enabled);
/**
* @defgroup joints Joints
*
* In real life a joint is something like a hinge, that is used to connect two
* objects.
* In ODE a joint is very similar: It is a relationship that is enforced between
* two bodies so that they can only have certain positions and orientations
* relative to each other.
* This relationship is called a constraint -- the words joint and
* constraint are often used interchangeably.
*
* A joint has a set of parameters that can be set. These include:
*
*
* \li dParamLoStop Low stop angle or position. Setting this to
* -dInfinity (the default value) turns off the low stop.
* For rotational joints, this stop must be greater than -pi to be
* effective.
* \li dParamHiStop High stop angle or position. Setting this to
* dInfinity (the default value) turns off the high stop.
* For rotational joints, this stop must be less than pi to be
* effective.
* If the high stop is less than the low stop then both stops will
* be ineffective.
* \li dParamVel Desired motor velocity (this will be an angular or
* linear velocity).
* \li dParamFMax The maximum force or torque that the motor will use to
* achieve the desired velocity.
* This must always be greater than or equal to zero.
* Setting this to zero (the default value) turns off the motor.
* \li dParamFudgeFactor The current joint stop/motor implementation has
* a small problem:
* when the joint is at one stop and the motor is set to move it away
* from the stop, too much force may be applied for one time step,
* causing a ``jumping'' motion.
* This fudge factor is used to scale this excess force.
* It should have a value between zero and one (the default value).
* If the jumping motion is too visible in a joint, the value can be
* reduced.
* Making this value too small can prevent the motor from being able to
* move the joint away from a stop.
* \li dParamBounce The bouncyness of the stops.
* This is a restitution parameter in the range 0..1.
* 0 means the stops are not bouncy at all, 1 means maximum bouncyness.
* \li dParamCFM The constraint force mixing (CFM) value used when not
* at a stop.
* \li dParamStopERP The error reduction parameter (ERP) used by the
* stops.
* \li dParamStopCFM The constraint force mixing (CFM) value used by the
* stops. Together with the ERP value this can be used to get spongy or
* soft stops.
* Note that this is intended for unpowered joints, it does not really
* work as expected when a powered joint reaches its limit.
* \li dParamSuspensionERP Suspension error reduction parameter (ERP).
* Currently this is only implemented on the hinge-2 joint.
* \li dParamSuspensionCFM Suspension constraint force mixing (CFM) value.
* Currently this is only implemented on the hinge-2 joint.
*
* If a particular parameter is not implemented by a given joint, setting it
* will have no effect.
* These parameter names can be optionally followed by a digit (2 or 3)
* to indicate the second or third set of parameters, e.g. for the second axis
* in a hinge-2 joint, or the third axis in an AMotor joint.
*/
/**
* @brief Create a new joint of the ball type.
* @ingroup joints
* @remarks
* The joint is initially in "limbo" (i.e. it has no effect on the simulation)
* because it does not connect to any bodies.
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateBall (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the hinge type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateHinge (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the slider type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateSlider (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the contact type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
/**
* @brief Create a new joint of the hinge2 type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the universal type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the PR (Prismatic and Rotoide) type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the PU (Prismatic and Universal) type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreatePU (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the Piston type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given
* joint group.
*/
ODE_API dJointID dJointCreatePiston (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the fixed type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateFixed (dWorldID, dJointGroupID);
ODE_API dJointID dJointCreateNull (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the A-motor type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the L-motor type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateLMotor (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the plane-2d type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the double ball type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateDBall (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the double hinge type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateDHinge (dWorldID, dJointGroupID);
/**
* @brief Create a new joint of the Transmission type.
* @ingroup joints
* @param dJointGroupID set to 0 to allocate the joint normally.
* If it is nonzero the joint is allocated in the given joint group.
*/
ODE_API dJointID dJointCreateTransmission (dWorldID, dJointGroupID);
/**
* @brief Destroy a joint.
* @ingroup joints
*
* 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 dJointDestroy (dJointID);
/**
* @brief Create a joint group
* @ingroup joints
* @param max_size deprecated. Set to 0.
*/
ODE_API dJointGroupID dJointGroupCreate (int max_size);
/**
* @brief Destroy a joint group.
* @ingroup joints
*
* All joints in the joint group will be destroyed.
*/
ODE_API void dJointGroupDestroy (dJointGroupID);
/**
* @brief Empty a joint group.
* @ingroup joints
*
* All joints in the joint group will be destroyed,
* but the joint group itself will not be destroyed.
*/
ODE_API void dJointGroupEmpty (dJointGroupID);
/**
* @brief Return the number of bodies attached to the joint
* @ingroup joints
*/
ODE_API int dJointGetNumBodies(dJointID);
/**
* @brief Attach the joint to some new bodies.
* @ingroup joints
*
* If the joint is already attached, it will be detached from the old bodies
* first.
* To attach this joint to only one body, set body1 or body2 to zero - a zero
* body refers to the static environment.
* Setting both bodies to zero puts the joint into "limbo", i.e. it will
* have no effect on the simulation.
* @remarks
* Some joints, like hinge-2 need to be attached to two bodies to work.
*/
ODE_API void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
/**
* @brief Manually enable a joint.
* @param dJointID identification of joint.
* @ingroup joints
*/
ODE_API void dJointEnable (dJointID);
/**
* @brief Manually disable a joint.
* @ingroup joints
* @remarks
* A disabled joint will not affect the simulation, but will maintain the anchors and
* axes so it can be enabled later.
*/
ODE_API void dJointDisable (dJointID);
/**
* @brief Check wether a joint is enabled.
* @ingroup joints
* @return 1 if a joint is currently enabled or 0 if it is disabled.
*/
ODE_API int dJointIsEnabled (dJointID);
/**
* @brief Set the user-data pointer
* @ingroup joints
*/
ODE_API void dJointSetData (dJointID, void *data);
/**
* @brief Get the user-data pointer
* @ingroup joints
*/
ODE_API void *dJointGetData (dJointID);
/**
* @brief Get the type of the joint
* @ingroup joints
* @return the type, being one of these:
* \li dJointTypeBall
* \li dJointTypeHinge
* \li dJointTypeSlider
* \li dJointTypeContact
* \li dJointTypeUniversal
* \li dJointTypeHinge2
* \li dJointTypeFixed
* \li dJointTypeNull
* \li dJointTypeAMotor
* \li dJointTypeLMotor
* \li dJointTypePlane2D
* \li dJointTypePR
* \li dJointTypePU
* \li dJointTypePiston
*/
ODE_API dJointType dJointGetType (dJointID);
/**
* @brief Return the bodies that this joint connects.
* @ingroup joints
* @param index return the first (0) or second (1) body.
* @remarks
* If one of these returned body IDs is zero, the joint connects the other body
* to the static environment.
* If both body IDs are zero, the joint is in ``limbo'' and has no effect on
* the simulation.
*/
ODE_API dBodyID dJointGetBody (dJointID, int index);
/**
* @brief Sets the datastructure that is to receive the feedback.
*
* The feedback can be used by the user, so that it is known how
* much force an individual joint exerts.
* @ingroup joints
*/
ODE_API void dJointSetFeedback (dJointID, dJointFeedback *);
/**
* @brief Gets the datastructure that is to receive the feedback.
* @ingroup joints
*/
ODE_API dJointFeedback *dJointGetFeedback (dJointID);
/**
* @brief Set the joint anchor point.
* @ingroup joints
*
* The joint will try to keep this point on each body
* together. The input is specified in world coordinates.
*/
ODE_API void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
/**
* @brief Set the joint anchor point.
* @ingroup joints
*/
ODE_API void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z);
/**
* @brief Param setting for Ball joints
* @ingroup joints
*/
ODE_API void dJointSetBallParam (dJointID, int parameter, dReal value);
/**
* @brief Set hinge anchor parameter.
* @ingroup joints
*/
ODE_API void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
ODE_API void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
/**
* @brief Set hinge axis.
* @ingroup joints
*/
ODE_API void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
/**
* @brief Set the Hinge axis as if the 2 bodies were already at angle appart.
* @ingroup joints
*
* This function initialize the Axis and the relative orientation of each body
* as if body1 was rotated around the axis by the angle value. \br
* Ex:
*
* dJointSetHingeAxis(jId, 1, 0, 0);
* // If you request the position you will have: dJointGetHingeAngle(jId) == 0
* dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23);
* // If you request the position you will have: dJointGetHingeAngle(jId) == 0.23
*
* @param j The Hinge joint ID for which the axis will be set
* @param x The X component of the axis in world frame
* @param y The Y component of the axis in world frame
* @param z The Z component of the axis in world frame
* @param angle The angle for the offset of the relative orientation.
* As if body1 was rotated by angle when the Axis was set (see below).
* The rotation is around the new Hinge axis.
*
* @note Usually the function dJointSetHingeAxis set the current position of body1
* and body2 as the zero angle position. This function set the current position
* as the if the 2 bodies where \b angle appart.
* @warning Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero"
* angle position.
*/
ODE_API void dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle);
/**
* @brief set joint parameter
* @ingroup joints
*/
ODE_API void dJointSetHingeParam (dJointID, int parameter, dReal value);
/**
* @brief Applies the torque about the hinge axis.
*
* That is, it applies a torque with specified magnitude in the direction
* of the hinge axis, to body 1, and with the same magnitude but in opposite
* direction to body 2. This function is just a wrapper for dBodyAddTorque()}
* @ingroup joints
*/
ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque);
/**
* @brief set the joint axis
* @ingroup joints
*/
ODE_API void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
/**
* @ingroup joints
*/
ODE_API void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
/**
* @brief set joint parameter
* @ingroup joints
*/
ODE_API void dJointSetSliderParam (dJointID, int parameter, dReal value);
/**
* @brief Applies the given force in the slider's direction.
*
* That is, it applies a force with specified magnitude, in the direction of
* slider's axis, to body1, and with the same magnitude but opposite
* direction to body2. This function is just a wrapper for dBodyAddForce().
* @ingroup joints
*/
ODE_API void dJointAddSliderForce(dJointID joint, dReal force);
/**
* @brief set anchor
* @ingroup joints
*/
ODE_API void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
/**
* @brief set both axes (optionally)
*
* This can change both axes at once avoiding transitions via invalid states
* while changing axes one by one and having the first changed axis coincide
* with the other axis existing direction.
*
* At least one of the axes must be not NULL. If NULL is passed, the corresponding
* axis retains its existing value.
*
* @ingroup joints
*/
ODE_API void dJointSetHinge2Axes (dJointID j, const dReal *axis1/*=[dSA__MAX],=NULL*/, const dReal *axis2/*=[dSA__MAX],=NULL*/);
/**
* @brief set axis
*
* Deprecated. Use @fn dJointSetHinge2Axes instead.
*
* @ingroup joints
* @see dJointSetHinge2Axes
*/
ODE_API_DEPRECATED ODE_API void dJointSetHinge2Axis1 (dJointID j, dReal x, dReal y, dReal z);
/**
* @brief set axis
*
* Deprecated. Use @fn dJointSetHinge2Axes instead.
*
* @ingroup joints
* @see dJointSetHinge2Axes
*/
ODE_API_DEPRECATED ODE_API void dJointSetHinge2Axis2 (dJointID j, dReal x, dReal y, dReal z);
/**
* @brief set joint parameter
* @ingroup joints
*/
ODE_API void dJointSetHinge2Param (dJointID, int parameter, dReal value);
/**
* @brief Applies torque1 about the hinge2's axis 1, torque2 about the
* hinge2's axis 2.
* @remarks This function is just a wrapper for dBodyAddTorque().
* @ingroup joints
*/
ODE_API void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2);
/**
* @brief set anchor
* @ingroup joints
*/
ODE_API void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
/**
* @brief set axis
* @ingroup joints
*/
ODE_API void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
/**
* @brief Set the Universal axis1 as if the 2 bodies were already at
* offset1 and offset2 appart with respect to axis1 and axis2.
* @ingroup joints
*
* This function initialize the axis1 and the relative orientation of
* each body as if body1 was rotated around the new axis1 by the offset1
* value and as if body2 was rotated around the axis2 by offset2. \br
* Ex:
*
* dJointSetHuniversalAxis1(jId, 1, 0, 0);
* // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
* // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
* dJointSetHuniversalAxis1Offset(jId, 1, 0, 0, 0.2, 0.17);
* // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
* // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
*
*
* @param j The Hinge joint ID for which the axis will be set
* @param x The X component of the axis in world frame
* @param y The Y component of the axis in world frame
* @param z The Z component of the axis in world frame
* @param angle The angle for the offset of the relative orientation.
* As if body1 was rotated by angle when the Axis was set (see below).
* The rotation is around the new Hinge axis.
*
* @note Usually the function dJointSetHingeAxis set the current position of body1
* and body2 as the zero angle position. This function set the current position
* as the if the 2 bodies where \b offsets appart.
*
* @note Any previous offsets are erased.
*
* @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1,
* dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset
* will reset the "zero" angle position.
*/
ODE_API void dJointSetUniversalAxis1Offset (dJointID, dReal x, dReal y, dReal z,
dReal offset1, dReal offset2);
/**
* @brief set axis
* @ingroup joints
*/
ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
/**
* @brief Set the Universal axis2 as if the 2 bodies were already at
* offset1 and offset2 appart with respect to axis1 and axis2.
* @ingroup joints
*
* This function initialize the axis2 and the relative orientation of
* each body as if body1 was rotated around the axis1 by the offset1
* value and as if body2 was rotated around the new axis2 by offset2. \br
* Ex:
*
* dJointSetHuniversalAxis2(jId, 0, 1, 0);
* // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
* // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
* dJointSetHuniversalAxis2Offset(jId, 0, 1, 0, 0.2, 0.17);
* // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
* // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
*
* @param j The Hinge joint ID for which the axis will be set
* @param x The X component of the axis in world frame
* @param y The Y component of the axis in world frame
* @param z The Z component of the axis in world frame
* @param angle The angle for the offset of the relative orientation.
* As if body1 was rotated by angle when the Axis was set (see below).
* The rotation is around the new Hinge axis.
*
* @note Usually the function dJointSetHingeAxis set the current position of body1
* and body2 as the zero angle position. This function set the current position
* as the if the 2 bodies where \b offsets appart.
*
* @note Any previous offsets are erased.
*
* @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1,
* dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset
* will reset the "zero" angle position.
*/
ODE_API void dJointSetUniversalAxis2Offset (dJointID, dReal x, dReal y, dReal z,
dReal offset1, dReal offset2);
/**
* @brief set joint parameter
* @ingroup joints
*/
ODE_API void dJointSetUniversalParam (dJointID, int parameter, dReal value);
/**
* @brief Applies torque1 about the universal's axis 1, torque2 about the
* universal's axis 2.
* @remarks This function is just a wrapper for dBodyAddTorque().
* @ingroup joints
*/
ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2);
/**
* @brief set anchor
* @ingroup joints
*/
ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z);
/**
* @brief set the axis for the prismatic articulation
* @ingroup joints
*/
ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z);
/**
* @brief set the axis for the rotoide articulation
* @ingroup joints
*/
ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z);
/**
* @brief set joint parameter
* @ingroup joints
*
* @note parameterX where X equal 2 refer to parameter for the rotoide articulation
*/
ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value);
/**
* @brief Applies the torque about the rotoide axis of the PR joint
*
* That is, it applies a torque with specified magnitude in the direction
* of the rotoide axis, to body 1, and with the same magnitude but in opposite
* direction to body 2. This function is just a wrapper for dBodyAddTorque()}
* @ingroup joints
*/
ODE_API void dJointAddPRTorque (dJointID j, dReal torque);
/**
* @brief set anchor
* @ingroup joints
*/
ODE_API void dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z);
/**
* @brief set anchor
* @ingroup joints
*/
ODE_API_DEPRECATED ODE_API void dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z,
dReal dx, dReal dy, dReal dz);
/**
* @brief Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart.
* @ingroup joints
*
* This function initialize the anchor and the relative position of each body
* as if the position between body1 and body2 was already the projection of [dx, dy, dz]
* along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the
* axis is set).
* Ex:
*
* dReal offset = 3;
* dVector3 axis;
* dJointGetPUAxis(jId, axis);
* dJointSetPUAnchor(jId, 0, 0, 0);
* // If you request the position you will have: dJointGetPUPosition(jId) == 0
* dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
* // If you request the position you will have: dJointGetPUPosition(jId) == offset
*
* @param j The PU joint for which the anchor point will be set
* @param x The X position of the anchor point in world frame
* @param y The Y position of the anchor point in world frame
* @param z The Z position of the anchor point in world frame
* @param dx A delta to be substracted to the X position as if the anchor was set
* when body1 was at current_position[X] - dx
* @param dx A delta to be substracted to the Y position as if the anchor was set
* when body1 was at current_position[Y] - dy
* @param dx A delta to be substracted to the Z position as if the anchor was set
* when body1 was at current_position[Z] - dz
*/
ODE_API void dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z,
dReal dx, dReal dy, dReal dz);
/**
* @brief set the axis for the first axis or the universal articulation
* @ingroup joints
*/
ODE_API void dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z);
/**
* @brief set the axis for the second axis or the universal articulation
* @ingroup joints
*/
ODE_API void dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z);
/**
* @brief set the axis for the prismatic articulation
* @ingroup joints
*/
ODE_API void dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z);
/**
* @brief set the axis for the prismatic articulation
* @ingroup joints
* @note This function was added for convenience it is the same as
* dJointSetPUAxis3
*/
ODE_API void dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z);
/**
* @brief set joint parameter
* @ingroup joints
*
* @note parameterX where X equal 2 refer to parameter for second axis of the
* universal articulation
* @note parameterX where X equal 3 refer to parameter for prismatic
* articulation
*/
ODE_API void dJointSetPUParam (dJointID, int parameter, dReal value);
/**
* @brief Applies the torque about the rotoide axis of the PU joint
*
* That is, it applies a torque with specified magnitude in the direction
* of the rotoide axis, to body 1, and with the same magnitude but in opposite
* direction to body 2. This function is just a wrapper for dBodyAddTorque()}
* @ingroup joints
*/
ODE_API void dJointAddPUTorque (dJointID j, dReal torque);
/**
* @brief set the joint anchor
* @ingroup joints
*/
ODE_API void dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z);
/**
* @brief Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart.
* @ingroup joints
*
* This function initialize the anchor and the relative position of each body
* as if the position between body1 and body2 was already the projection of [dx, dy, dz]
* along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the
* axis is set).
* Ex:
*
* dReal offset = 3;
* dVector3 axis;
* dJointGetPistonAxis(jId, axis);
* dJointSetPistonAnchor(jId, 0, 0, 0);
* // If you request the position you will have: dJointGetPistonPosition(jId) == 0
* dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
* // If you request the position you will have: dJointGetPistonPosition(jId) == offset
*
* @param j The Piston joint for which the anchor point will be set
* @param x The X position of the anchor point in world frame
* @param y The Y position of the anchor point in world frame
* @param z The Z position of the anchor point in world frame
* @param dx A delta to be substracted to the X position as if the anchor was set
* when body1 was at current_position[X] - dx
* @param dx A delta to be substracted to the Y position as if the anchor was set
* when body1 was at current_position[Y] - dy
* @param dx A delta to be substracted to the Z position as if the anchor was set
* when body1 was at current_position[Z] - dz
*/
ODE_API void dJointSetPistonAnchorOffset(dJointID j, dReal x, dReal y, dReal z,
dReal dx, dReal dy, dReal dz);
/**
* @brief set the joint axis
* @ingroup joints
*/
ODE_API void dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z);
/**
* This function set prismatic axis of the joint and also set the position
* of the joint.
*
* @ingroup joints
* @param j The joint affected by this function
* @param x The x component of the axis
* @param y The y component of the axis
* @param z The z component of the axis
* @param dx The Initial position of the prismatic join in the x direction
* @param dy The Initial position of the prismatic join in the y direction
* @param dz The Initial position of the prismatic join in the z direction
*/
ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
/**
* @brief set joint parameter
* @ingroup joints
*/
ODE_API void dJointSetPistonParam (dJointID, int parameter, dReal value);
/**
* @brief Applies the given force in the slider's direction.
*
* That is, it applies a force with specified magnitude, in the direction of
* prismatic's axis, to body1, and with the same magnitude but opposite
* direction to body2. This function is just a wrapper for dBodyAddForce().
* @ingroup joints
*/
ODE_API void dJointAddPistonForce (dJointID joint, dReal force);
/**
* @brief Call this on the fixed joint after it has been attached to
* remember the current desired relative offset and desired relative
* rotation between the bodies.
* @ingroup joints
*/
ODE_API void dJointSetFixed (dJointID);
/*
* @brief Sets joint parameter
*
* @ingroup joints
*/
ODE_API void dJointSetFixedParam (dJointID, int parameter, dReal value);
/**
* @brief set the nr of axes
* @param num 0..3
* @ingroup joints
*/
ODE_API void dJointSetAMotorNumAxes (dJointID, int num);
/**
* @brief set axis
* @ingroup joints
*/
ODE_API void dJointSetAMotorAxis (dJointID, int anum, int rel,
dReal x, dReal y, dReal z);
/**
* @brief Tell the AMotor what the current angle is along axis anum.
*
* This function should only be called in dAMotorUser mode, because in this
* mode the AMotor has no other way of knowing the joint angles.
* The angle information is needed if stops have been set along the axis,
* but it is not needed for axis motors.
* @ingroup joints
*/
ODE_API void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
/**
* @brief set joint parameter
* @ingroup joints
*/
ODE_API void dJointSetAMotorParam (dJointID, int parameter, dReal value);
/**
* @brief set mode
* @ingroup joints
*/
ODE_API void dJointSetAMotorMode (dJointID, int mode);
/**
* @brief Applies torque0 about the AMotor's axis 0, torque1 about the
* AMotor's axis 1, and torque2 about the AMotor's axis 2.
* @remarks
* If the motor has fewer than three axes, the higher torques are ignored.
* This function is just a wrapper for dBodyAddTorque().
* @ingroup joints
*/
ODE_API void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3);
/**
* @brief Set the number of axes that will be controlled by the LMotor.
* @param num can range from 0 (which effectively deactivates the joint) to 3.
* @ingroup joints
*/
ODE_API void dJointSetLMotorNumAxes (dJointID, int num);
/**
* @brief Set the AMotor axes.
* @param anum selects the axis to change (0,1 or 2).
* @param rel Each axis can have one of three ``relative orientation'' modes
* \li 0: The axis is anchored to the global frame.
* \li 1: The axis is anchored to the first body.
* \li 2: The axis is anchored to the second body.
* @remarks The axis vector is always specified in global coordinates
* regardless of the setting of rel.
* @ingroup joints
*/
ODE_API void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z);
/**
* @brief set joint parameter
* @ingroup joints
*/
ODE_API void dJointSetLMotorParam (dJointID, int parameter, dReal value);
/**
* @ingroup joints
*/
ODE_API void dJointSetPlane2DXParam (dJointID, int parameter, dReal value);
/**
* @ingroup joints
*/
ODE_API void dJointSetPlane2DYParam (dJointID, int parameter, dReal value);
/**
* @ingroup joints
*/
ODE_API void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value);
/**
* @brief Get the joint anchor point, in world coordinates.
*
* This returns the point on body 1. If the joint is perfectly satisfied,
* this will be the same as the point on body 2.
*/
ODE_API void dJointGetBallAnchor (dJointID, dVector3 result);
/**
* @brief Get the joint anchor point, in world coordinates.
*
* This returns the point on body 2. You can think of a ball and socket
* joint as trying to keep the result of dJointGetBallAnchor() and
* dJointGetBallAnchor2() the same. If the joint is perfectly satisfied,
* this function will return the same value as dJointGetBallAnchor() to
* within roundoff errors. dJointGetBallAnchor2() can be used, along with
* dJointGetBallAnchor(), to see how far the joint has come apart.
*/
ODE_API void dJointGetBallAnchor2 (dJointID, dVector3 result);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetBallParam (dJointID, int parameter);
/**
* @brief Get the hinge anchor point, in world coordinates.
*
* This returns the point on body 1. If the joint is perfectly satisfied,
* this will be the same as the point on body 2.
* @ingroup joints
*/
ODE_API void dJointGetHingeAnchor (dJointID, dVector3 result);
/**
* @brief Get the joint anchor point, in world coordinates.
* @return The point on body 2. If the joint is perfectly satisfied,
* this will return the same value as dJointGetHingeAnchor().
* If not, this value will be slightly different.
* This can be used, for example, to see how far the joint has come apart.
* @ingroup joints
*/
ODE_API void dJointGetHingeAnchor2 (dJointID, dVector3 result);
/**
* @brief get axis
* @ingroup joints
*/
ODE_API void dJointGetHingeAxis (dJointID, dVector3 result);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetHingeParam (dJointID, int parameter);
/**
* @brief Get the hinge angle.
*
* The angle is measured between the two bodies, or between the body and
* the static environment.
* The angle will be between -pi..pi.
* Give the relative rotation with respect to the Hinge axis of Body 1 with
* respect to Body 2.
* When the hinge anchor or axis is set, the current position of the attached
* bodies is examined and that position will be the zero angle.
* @ingroup joints
*/
ODE_API dReal dJointGetHingeAngle (dJointID);
/**
* @brief Get the hinge angle time derivative.
* @ingroup joints
*/
ODE_API dReal dJointGetHingeAngleRate (dJointID);
/**
* @brief Get the slider linear position (i.e. the slider's extension)
*
* When the axis is set, the current position of the attached bodies is
* examined and that position will be the zero position.
* The position is the distance, with respect to the zero position,
* along the slider axis of body 1 with respect to
* body 2. (A NULL body is replaced by the world).
* @ingroup joints
*/
ODE_API dReal dJointGetSliderPosition (dJointID);
/**
* @brief Get the slider linear position's time derivative.
* @ingroup joints
*/
ODE_API dReal dJointGetSliderPositionRate (dJointID);
/**
* @brief Get the slider axis
* @ingroup joints
*/
ODE_API void dJointGetSliderAxis (dJointID, dVector3 result);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetSliderParam (dJointID, int parameter);
/**
* @brief Get the joint anchor point, in world coordinates.
* @return the point on body 1. If the joint is perfectly satisfied,
* this will be the same as the point on body 2.
* @ingroup joints
*/
ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result);
/**
* @brief 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.
* @ingroup joints
*/
ODE_API void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
/**
* @brief Get joint axis
* @ingroup joints
*/
ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result);
/**
* @brief Get joint axis
* @ingroup joints
*/
ODE_API void dJointGetHinge2Axis2 (dJointID, dVector3 result);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetHinge2Param (dJointID, int parameter);
/**
* @brief Get angle
* @ingroup joints
*/
ODE_API dReal dJointGetHinge2Angle1 (dJointID);
/**
* @brief Get angle
* @ingroup joints
*/
ODE_API dReal dJointGetHinge2Angle2 (dJointID);
/**
* @brief Get time derivative of angle
* @ingroup joints
*/
ODE_API dReal dJointGetHinge2Angle1Rate (dJointID);
/**
* @brief Get time derivative of angle
* @ingroup joints
*/
ODE_API dReal dJointGetHinge2Angle2Rate (dJointID);
/**
* @brief Get the joint anchor point, in world coordinates.
* @return the point on body 1. If the joint is perfectly satisfied,
* this will be the same as the point on body 2.
* @ingroup joints
*/
ODE_API void dJointGetUniversalAnchor (dJointID, dVector3 result);
/**
* @brief Get the joint anchor point, in world coordinates.
* @return This returns the point on body 2.
* @remarks
* You can think of the ball and socket part of a universal joint as
* trying to keep the result of dJointGetBallAnchor() and
* dJointGetBallAnchor2() the same. If the joint is
* perfectly satisfied, this function will return the same value
* as dJointGetUniversalAnchor() to within roundoff errors.
* dJointGetUniversalAnchor2() can be used, along with
* dJointGetUniversalAnchor(), to see how far the joint has come apart.
* @ingroup joints
*/
ODE_API void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
/**
* @brief Get axis
* @ingroup joints
*/
ODE_API void dJointGetUniversalAxis1 (dJointID, dVector3 result);
/**
* @brief Get axis
* @ingroup joints
*/
ODE_API void dJointGetUniversalAxis2 (dJointID, dVector3 result);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetUniversalParam (dJointID, int parameter);
/**
* @brief Get both angles at the same time.
* @ingroup joints
*
* @param joint The universal joint for which we want to calculate the angles
* @param angle1 The angle between the body1 and the axis 1
* @param angle2 The angle between the body2 and the axis 2
*
* @note This function combine getUniversalAngle1 and getUniversalAngle2 together
* and try to avoid redundant calculation
*/
ODE_API void dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2);
/**
* @brief Get angle
* @ingroup joints
*/
ODE_API dReal dJointGetUniversalAngle1 (dJointID);
/**
* @brief Get angle
* @ingroup joints
*/
ODE_API dReal dJointGetUniversalAngle2 (dJointID);
/**
* @brief Get time derivative of angle
* @ingroup joints
*/
ODE_API dReal dJointGetUniversalAngle1Rate (dJointID);
/**
* @brief Get time derivative of angle
* @ingroup joints
*/
ODE_API dReal dJointGetUniversalAngle2Rate (dJointID);
/**
* @brief Get the joint anchor point, in world coordinates.
* @return the point on body 1. If the joint is perfectly satisfied,
* this will be the same as the point on body 2.
* @ingroup joints
*/
ODE_API void dJointGetPRAnchor (dJointID, dVector3 result);
/**
* @brief Get the PR linear position (i.e. the prismatic's extension)
*
* When the axis is set, the current position of the attached bodies is
* examined and that position will be the zero position.
*
* The position is the "oriented" length between the
* position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)]
*
* @ingroup joints
*/
ODE_API dReal dJointGetPRPosition (dJointID);
/**
* @brief Get the PR linear position's time derivative
*
* @ingroup joints
*/
ODE_API dReal dJointGetPRPositionRate (dJointID);
/**
* @brief Get the PR angular position (i.e. the twist between the 2 bodies)
*
* When the axis is set, the current position of the attached bodies is
* examined and that position will be the zero position.
* @ingroup joints
*/
ODE_API dReal dJointGetPRAngle (dJointID);
/**
* @brief Get the PR angular position's time derivative
*
* @ingroup joints
*/
ODE_API dReal dJointGetPRAngleRate (dJointID);
/**
* @brief Get the prismatic axis
* @ingroup joints
*/
ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result);
/**
* @brief Get the Rotoide axis
* @ingroup joints
*/
ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetPRParam (dJointID, int parameter);
/**
* @brief Get the joint anchor point, in world coordinates.
* @return the point on body 1. If the joint is perfectly satisfied,
* this will be the same as the point on body 2.
* @ingroup joints
*/
ODE_API void dJointGetPUAnchor (dJointID, dVector3 result);
/**
* @brief Get the PU linear position (i.e. the prismatic's extension)
*
* When the axis is set, the current position of the attached bodies is
* examined and that position will be the zero position.
*
* The position is the "oriented" length between the
* position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)]
*
* @ingroup joints
*/
ODE_API dReal dJointGetPUPosition (dJointID);
/**
* @brief Get the PR linear position's time derivative
*
* @ingroup joints
*/
ODE_API dReal dJointGetPUPositionRate (dJointID);
/**
* @brief Get the first axis of the universal component of the joint
* @ingroup joints
*/
ODE_API void dJointGetPUAxis1 (dJointID, dVector3 result);
/**
* @brief Get the second axis of the Universal component of the joint
* @ingroup joints
*/
ODE_API void dJointGetPUAxis2 (dJointID, dVector3 result);
/**
* @brief Get the prismatic axis
* @ingroup joints
*/
ODE_API void dJointGetPUAxis3 (dJointID, dVector3 result);
/**
* @brief Get the prismatic axis
* @ingroup joints
*
* @note This function was added for convenience it is the same as
* dJointGetPUAxis3
*/
ODE_API void dJointGetPUAxisP (dJointID id, dVector3 result);
/**
* @brief Get both angles at the same time.
* @ingroup joints
*
* @param joint The Prismatic universal joint for which we want to calculate the angles
* @param angle1 The angle between the body1 and the axis 1
* @param angle2 The angle between the body2 and the axis 2
*
* @note This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together
* and try to avoid redundant calculation
*/
ODE_API void dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2);
/**
* @brief Get angle
* @ingroup joints
*/
ODE_API dReal dJointGetPUAngle1 (dJointID);
/**
* @brief * @brief Get time derivative of angle1
*
* @ingroup joints
*/
ODE_API dReal dJointGetPUAngle1Rate (dJointID);
/**
* @brief Get angle
* @ingroup joints
*/
ODE_API dReal dJointGetPUAngle2 (dJointID);
/**
* @brief * @brief Get time derivative of angle2
*
* @ingroup joints
*/
ODE_API dReal dJointGetPUAngle2Rate (dJointID);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetPUParam (dJointID, int parameter);
/**
* @brief Get the Piston linear position (i.e. the piston's extension)
*
* When the axis is set, the current position of the attached bodies is
* examined and that position will be the zero position.
* @ingroup joints
*/
ODE_API dReal dJointGetPistonPosition (dJointID);
/**
* @brief Get the piston linear position's time derivative.
* @ingroup joints
*/
ODE_API dReal dJointGetPistonPositionRate (dJointID);
/**
* @brief Get the Piston angular position (i.e. the twist between the 2 bodies)
*
* When the axis is set, the current position of the attached bodies is
* examined and that position will be the zero position.
* @ingroup joints
*/
ODE_API dReal dJointGetPistonAngle (dJointID);
/**
* @brief Get the piston angular position's time derivative.
* @ingroup joints
*/
ODE_API dReal dJointGetPistonAngleRate (dJointID);
/**
* @brief Get the joint anchor
*
* This returns the point on body 1. If the joint is perfectly satisfied,
* this will be the same as the point on body 2 in direction perpendicular
* to the prismatic axis.
*
* @ingroup joints
*/
ODE_API void dJointGetPistonAnchor (dJointID, dVector3 result);
/**
* @brief Get the joint anchor w.r.t. body 2
*
* This returns the point on body 2. You can think of a Piston
* joint as trying to keep the result of dJointGetPistonAnchor() and
* dJointGetPistonAnchor2() the same in the direction perpendicular to the
* pirsmatic axis. If the joint is perfectly satisfied,
* this function will return the same value as dJointGetPistonAnchor() to
* within roundoff errors. dJointGetPistonAnchor2() can be used, along with
* dJointGetPistonAnchor(), to see how far the joint has come apart.
*
* @ingroup joints
*/
ODE_API void dJointGetPistonAnchor2 (dJointID, dVector3 result);
/**
* @brief Get the prismatic axis (This is also the rotoide axis.
* @ingroup joints
*/
ODE_API void dJointGetPistonAxis (dJointID, dVector3 result);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetPistonParam (dJointID, int parameter);
/**
* @brief Get the number of angular axes that will be controlled by the
* AMotor.
* @param num can range from 0 (which effectively deactivates the
* joint) to 3.
* This is automatically set to 3 in dAMotorEuler mode.
* @ingroup joints
*/
ODE_API int dJointGetAMotorNumAxes (dJointID);
/**
* @brief Get the AMotor axes.
* @param anum selects the axis to change (0,1 or 2).
* @param rel Each axis can have one of three ``relative orientation'' modes.
* \li 0: The axis is anchored to the global frame.
* \li 1: The axis is anchored to the first body.
* \li 2: The axis is anchored to the second body.
* @ingroup joints
*/
ODE_API void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
/**
* @brief Get axis
* @remarks
* The axis vector is always specified in global coordinates regardless
* of the setting of rel.
* There are two GetAMotorAxis functions, one to return the axis and one to
* return the relative mode.
*
* For dAMotorEuler mode:
* \li Only axes 0 and 2 need to be set. Axis 1 will be determined
automatically at each time step.
* \li Axes 0 and 2 must be perpendicular to each other.
* \li Axis 0 must be anchored to the first body, axis 2 must be anchored
to the second body.
* @ingroup joints
*/
ODE_API int dJointGetAMotorAxisRel (dJointID, int anum);
/**
* @brief Get the current angle for axis.
* @remarks
* In dAMotorUser mode this is simply the value that was set with
* dJointSetAMotorAngle().
* In dAMotorEuler mode this is the corresponding euler angle.
* @ingroup joints
*/
ODE_API dReal dJointGetAMotorAngle (dJointID, int anum);
/**
* @brief Get the current angle rate for axis anum.
* @remarks
* In dAMotorUser mode this is always zero, as not enough information is
* available.
* In dAMotorEuler mode this is the corresponding euler angle rate.
* @ingroup joints
*/
ODE_API dReal dJointGetAMotorAngleRate (dJointID, int anum);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetAMotorParam (dJointID, int parameter);
/**
* @brief Get the angular motor mode.
* @param mode must be one of the following constants:
* \li dAMotorUser The AMotor axes and joint angle settings are entirely
* controlled by the user. This is the default mode.
* \li dAMotorEuler Euler angles are automatically computed.
* The axis a1 is also automatically computed.
* The AMotor axes must be set correctly when in this mode,
* as described below.
* When this mode is initially set the current relative orientations
* of the bodies will correspond to all euler angles at zero.
* @ingroup joints
*/
ODE_API int dJointGetAMotorMode (dJointID);
/**
* @brief Get nr of axes.
* @ingroup joints
*/
ODE_API int dJointGetLMotorNumAxes (dJointID);
/**
* @brief Get axis.
* @ingroup joints
*/
ODE_API void dJointGetLMotorAxis (dJointID, int anum, dVector3 result);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetLMotorParam (dJointID, int parameter);
/**
* @brief get joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetFixedParam (dJointID, int parameter);
/**
* @brief get the contact point of the first wheel of the Transmission joint.
* @ingroup joints
*/
ODE_API void dJointGetTransmissionContactPoint1(dJointID, dVector3 result);
/**
* @brief get contact point of the second wheel of the Transmission joint.
* @ingroup joints
*/
ODE_API void dJointGetTransmissionContactPoint2(dJointID, dVector3 result);
/**
* @brief set the first axis for the Transmission joint
* @remarks This is the axis around which the first body is allowed to
* revolve and is attached to it. It is given in global coordinates
* and can only be set explicitly in intersecting-axes mode. For the
* parallel-axes and chain modes which share one common axis of
* revolution for both gears dJointSetTransmissionAxis should be used.
* @ingroup joints
*/
ODE_API void dJointSetTransmissionAxis1(dJointID, dReal x, dReal y, dReal z);
/**
* @brief get first axis for the Transmission joint
* @remarks In parallel-axes and chain mode the common axis with
* respect to the first body is returned. If the joint constraint is
* satisfied it should be the same as the axis return with
* dJointGetTransmissionAxis2 or dJointGetTransmissionAxis.
* @ingroup joints
*/
ODE_API void dJointGetTransmissionAxis1(dJointID, dVector3 result);
/**
* @brief set second axis for the Transmission joint
* @remarks This is the axis around which the second body is allowed
* to revolve and is attached to it. It is given in global
* coordinates and can only be set explicitly in intersecting-axes
* mode. For the parallel-axes and chain modes which share one common
* axis of revolution for both gears dJointSetTransmissionAxis should
* be used.
* @ingroup joints
*/
ODE_API void dJointSetTransmissionAxis2(dJointID, dReal x, dReal y, dReal z);
/**
* @brief get second axis for the Transmission joint
* @remarks In parallel-axes and chain mode the common axis with
* respect to the second body is returned. If the joint constraint is
* satisfied it should be the same as the axis return with
* dJointGetTransmissionAxis1 or dJointGetTransmissionAxis.
* @ingroup joints
*/
ODE_API void dJointGetTransmissionAxis2(dJointID, dVector3 result);
/**
* @brief set the first anchor for the Transmission joint
* @remarks This is the point of attachment of the wheel on the
* first body. It is given in global coordinates.
* @ingroup joints
*/
ODE_API void dJointSetTransmissionAnchor1(dJointID, dReal x, dReal y, dReal z);
/**
* @brief get the first anchor of the Transmission joint
* @ingroup joints
*/
ODE_API void dJointGetTransmissionAnchor1(dJointID, dVector3 result);
/**
* @brief set the second anchor for the Transmission joint
* @remarks This is the point of attachment of the wheel on the
* second body. It is given in global coordinates.
* @ingroup joints
*/
ODE_API void dJointSetTransmissionAnchor2(dJointID, dReal x, dReal y, dReal z);
/**
* @brief get the second anchor for the Transmission joint
* @ingroup joints
*/
ODE_API void dJointGetTransmissionAnchor2(dJointID, dVector3 result);
/**
* @brief set a Transmission joint parameter
* @ingroup joints
*/
ODE_API void dJointSetTransmissionParam(dJointID, int parameter, dReal value);
/**
* @brief get a Transmission joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetTransmissionParam(dJointID, int parameter);
/**
* @brief set the Transmission joint mode
* @remarks The mode can be one of dTransmissionParallelAxes,
* dTransmissionIntersectingAxes and dTransmissionChainDrive simulating a
* set of parallel-axes gears, intersecting-axes beveled gears or
* chain and sprockets respectively.
* @ingroup joints
*/
ODE_API void dJointSetTransmissionMode( dJointID j, int mode );
/**
* @brief get the Transmission joint mode
* @ingroup joints
*/
ODE_API int dJointGetTransmissionMode( dJointID j );
/**
* @brief set the Transmission ratio
* @remarks This is the ratio of the angular speed of the first gear
* to that of the second gear. It can only be set explicitly in
* parallel-axes mode. In intersecting-axes mode the ratio is defined
* implicitly by the initial configuration of the wheels and in chain
* mode it is defined implicitly be the wheel radii.
* @ingroup joints
*/
ODE_API void dJointSetTransmissionRatio( dJointID j, dReal ratio );
/**
* @brief get the Transmission joint ratio
* @ingroup joints
*/
ODE_API dReal dJointGetTransmissionRatio( dJointID j );
/**
* @brief set the common axis for both wheels of the Transmission joint
* @remarks This sets the common axis of revolution for both wheels
* and should only be used in parallel-axes or chain mode. For
* intersecting-axes mode where each wheel axis needs to be specified
* individually dJointSetTransmissionAxis1 and
* dJointSetTransmissionAxis2 should be used. The axis is given in
* global coordinates
* @ingroup joints
*/
ODE_API void dJointSetTransmissionAxis( dJointID j, dReal x, dReal y, dReal z );
/**
* @brief get the common axis for both wheels of the Transmission joint
* @ingroup joints
*/
ODE_API void dJointGetTransmissionAxis( dJointID j, dVector3 result );
/**
* @brief get the phase, that is the traversed angle for the first
* wheel of the Transmission joint
* @ingroup joints
*/
ODE_API dReal dJointGetTransmissionAngle1( dJointID j );
/**
* @brief get the phase, that is the traversed angle for the second
* wheel of the Transmission joint
* @ingroup joints
*/
ODE_API dReal dJointGetTransmissionAngle2( dJointID j );
/**
* @brief get the radius of the first wheel of the Transmission joint
* @ingroup joints
*/
ODE_API dReal dJointGetTransmissionRadius1( dJointID j );
/**
* @brief get the radius of the second wheel of the Transmission joint
* @ingroup joints
*/
ODE_API dReal dJointGetTransmissionRadius2( dJointID j );
/**
* @brief set the radius of the first wheel of the Transmission joint
* @remarks The wheel radii can only be set explicitly in chain mode.
* In the other modes they're defined implicitly by the initial
* configuration and ratio of the wheels.
* @ingroup joints
*/
ODE_API void dJointSetTransmissionRadius1( dJointID j, dReal radius );
/**
* @brief set the radius of the second wheel of the Transmission joint
* @remarks The wheel radii can only be set explicitly in chain mode.
* In the other modes they're defined implicitly by the initial
* configuration and ratio of the wheels.
* @ingroup joints
*/
ODE_API void dJointSetTransmissionRadius2( dJointID j, dReal radius );
/**
* @brief get the backlash of the Transmission joint
* @ingroup joints
*/
ODE_API dReal dJointGetTransmissionBacklash( dJointID j );
/**
* @brief set the backlash of the Transmission joint
* @remarks Backlash is the clearance in the mesh of the wheels of the
* transmission and is defined as the maximum distance that the
* geometric contact point can travel without any actual contact or
* transfer of power between the wheels. This can be converted in
* degrees of revolution for each wheel by dividing by the wheel's
* radius. To further illustrate this consider the situation where a
* wheel of radius r_1 is driving another wheel of radius r_2 and
* there is an amount of backlash equal to b in their mesh. If the
* driving wheel were to instantaneously stop there would be no
* contact and hence the driven wheel would continue to turn for
* another b / r_2 radians until all the backlash in the mesh was take
* up and contact restored with the relationship of driving and driven
* wheel reversed. The backlash is therefore given in untis of
* length.
* @ingroup joints
*/
ODE_API void dJointSetTransmissionBacklash( dJointID j, dReal backlash );
/**
* @brief set anchor1 for double ball joint
* @ingroup joints
*/
ODE_API void dJointSetDBallAnchor1(dJointID, dReal x, dReal y, dReal z);
/**
* @brief set anchor2 for double ball joint
* @ingroup joints
*/
ODE_API void dJointSetDBallAnchor2(dJointID, dReal x, dReal y, dReal z);
/**
* @brief get anchor1 from double ball joint
* @ingroup joints
*/
ODE_API void dJointGetDBallAnchor1(dJointID, dVector3 result);
/**
* @brief get anchor2 from double ball joint
* @ingroup joints
*/
ODE_API void dJointGetDBallAnchor2(dJointID, dVector3 result);
/**
* @brief get the target distance from double ball joint
* @ingroup joints
*/
ODE_API dReal dJointGetDBallDistance(dJointID);
/**
* @brief set the target distance for the double ball joint
* @ingroup joints
*/
ODE_API void dJointSetDBallDistance(dJointID, dReal dist);
/**
* @brief set double ball joint parameter
* @ingroup joints
*/
ODE_API void dJointSetDBallParam(dJointID, int parameter, dReal value);
/**
* @brief get double ball joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetDBallParam(dJointID, int parameter);
/**
* @brief set axis for double hinge joint
* @ingroup joints
*/
ODE_API void dJointSetDHingeAxis(dJointID, dReal x, dReal y, dReal z);
/**
* @brief get axis for double hinge joint
* @ingroup joints
*/
ODE_API void dJointGetDHingeAxis(dJointID, dVector3 result);
/**
* @brief set anchor1 for double hinge joint
* @ingroup joints
*/
ODE_API void dJointSetDHingeAnchor1(dJointID, dReal x, dReal y, dReal z);
/**
* @brief set anchor2 for double hinge joint
* @ingroup joints
*/
ODE_API void dJointSetDHingeAnchor2(dJointID, dReal x, dReal y, dReal z);
/**
* @brief get anchor1 from double hinge joint
* @ingroup joints
*/
ODE_API void dJointGetDHingeAnchor1(dJointID, dVector3 result);
/**
* @brief get anchor2 from double hinge joint
* @ingroup joints
*/
ODE_API void dJointGetDHingeAnchor2(dJointID, dVector3 result);
/**
* @brief get the set distance from double hinge joint
* @ingroup joints
*/
ODE_API dReal dJointGetDHingeDistance(dJointID);
/**
* @brief set double hinge joint parameter
* @ingroup joints
*/
ODE_API void dJointSetDHingeParam(dJointID, int parameter, dReal value);
/**
* @brief get double hinge joint parameter
* @ingroup joints
*/
ODE_API dReal dJointGetDHingeParam(dJointID, int parameter);
/**
* @ingroup joints
*/
ODE_API dJointID dConnectingJoint (dBodyID, dBodyID);
/**
* @ingroup joints
*/
ODE_API int dConnectingJointList (dBodyID, dBodyID, dJointID*);
/**
* @brief Utility function
* @return 1 if the two bodies are connected together by
* a joint, otherwise return 0.
* @ingroup joints
*/
ODE_API int dAreConnected (dBodyID, dBodyID);
/**
* @brief Utility function
* @return 1 if the two bodies are connected together by
* a joint that does not have type @arg{joint_type}, otherwise return 0.
* @param body1 A body to check.
* @param body2 A body to check.
* @param joint_type is a dJointTypeXXX constant.
* This is useful for deciding whether to add contact joints between two bodies:
* if they are already connected by non-contact joints then it may not be
* appropriate to add contacts, however it is okay to add more contact between-
* bodies that already have contacts.
* @ingroup joints
*/
ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type);
#ifdef __cplusplus
}
#endif
#endif