1942 lines
57 KiB
C
1942 lines
57 KiB
C
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#ifndef _ODE_OBJECTS_H_
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#define _ODE_OBJECTS_H_
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#include <ode/common.h>
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#include <ode/mass.h>
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#include <ode/contact.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @defgroup world World
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*
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* The world object is a container for rigid bodies and joints. Objects in
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* different worlds can not interact, for example rigid bodies from two
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* different worlds can not collide.
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*
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* All the objects in a world exist at the same point in time, thus one
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* reason to use separate worlds is to simulate systems at different rates.
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* Most applications will only need one world.
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*/
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/**
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* @brief Create a new, empty world and return its ID number.
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* @return an identifier
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* @ingroup world
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*/
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ODE_API dWorldID dWorldCreate(void);
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/**
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* @brief Destroy a world and everything in it.
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*
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* This includes all bodies, and all joints that are not part of a joint
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* group. Joints that are part of a joint group will be deactivated, and
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* can be destroyed by calling, for example, dJointGroupEmpty().
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* @ingroup world
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* @param world the identifier for the world the be destroyed.
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*/
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ODE_API void dWorldDestroy (dWorldID world);
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/**
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* @brief Set the world's global gravity vector.
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*
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* The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81),
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* assuming that +z is up. The default is no gravity, i.e. (0,0,0).
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*
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* @ingroup world
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*/
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ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
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/**
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* @brief Get the gravity vector for a given world.
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* @ingroup world
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*/
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ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity);
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/**
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* @brief Set the global ERP value, that controls how much error
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* correction is performed in each time step.
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* @ingroup world
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* @param dWorldID the identifier of the world.
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* @param erp Typical values are in the range 0.1--0.8. The default is 0.2.
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*/
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ODE_API void dWorldSetERP (dWorldID, dReal erp);
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/**
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* @brief Get the error reduction parameter.
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* @ingroup world
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* @return ERP value
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*/
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ODE_API dReal dWorldGetERP (dWorldID);
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/**
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* @brief Set the global CFM (constraint force mixing) value.
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* @ingroup world
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* @param cfm Typical values are in the range @m{10^{-9}} -- 1.
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* The default is 10^-5 if single precision is being used, or 10^-10
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* if double precision is being used.
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*/
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ODE_API void dWorldSetCFM (dWorldID, dReal cfm);
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/**
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* @brief Get the constraint force mixing value.
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* @ingroup world
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* @return CFM value
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*/
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ODE_API dReal dWorldGetCFM (dWorldID);
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/**
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* @brief Step the world.
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*
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* This uses a "big matrix" method that takes time on the order of m^3
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* and memory on the order of m^2, where m is the total number of constraint
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* rows. For large systems this will use a lot of memory and can be very slow,
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* but this is currently the most accurate method.
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* @ingroup world
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* @param stepsize The number of seconds that the simulation has to advance.
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*/
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ODE_API void dWorldStep (dWorldID, dReal stepsize);
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/**
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* @brief Converts an impulse to a force.
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* @ingroup world
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* @remarks
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* If you want to apply a linear or angular impulse to a rigid body,
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* instead of a force or a torque, then you can use this function to convert
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* the desired impulse into a force/torque vector before calling the
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* BodyAdd... function.
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* The current algorithm simply scales the impulse by 1/stepsize,
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* where stepsize is the step size for the next step that will be taken.
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* This function is given a dWorldID because, in the future, the force
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* computation may depend on integrator parameters that are set as
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* properties of the world.
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*/
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ODE_API void dWorldImpulseToForce
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(
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dWorldID, dReal stepsize,
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dReal ix, dReal iy, dReal iz, dVector3 force
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);
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/**
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* @brief Step the world.
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* @ingroup world
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* @remarks
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* This uses an iterative method that takes time on the order of m*N
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* and memory on the order of m, where m is the total number of constraint
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* rows N is the number of iterations.
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* For large systems this is a lot faster than dWorldStep(),
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* but it is less accurate.
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* @remarks
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* QuickStep is great for stacks of objects especially when the
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* auto-disable feature is used as well.
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* However, it has poor accuracy for near-singular systems.
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* Near-singular systems can occur when using high-friction contacts, motors,
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* or certain articulated structures. For example, a robot with multiple legs
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* sitting on the ground may be near-singular.
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* @remarks
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* There are ways to help overcome QuickStep's inaccuracy problems:
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* \li Increase CFM.
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* \li Reduce the number of contacts in your system (e.g. use the minimum
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* number of contacts for the feet of a robot or creature).
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* \li Don't use excessive friction in the contacts.
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* \li Use contact slip if appropriate
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* \li Avoid kinematic loops (however, kinematic loops are inevitable in
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* legged creatures).
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* \li Don't use excessive motor strength.
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* \liUse force-based motors instead of velocity-based motors.
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*
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* Increasing the number of QuickStep iterations may help a little bit, but
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* it is not going to help much if your system is really near singular.
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*/
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ODE_API void dWorldQuickStep (dWorldID w, dReal stepsize);
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/**
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* @brief Set the number of iterations that the QuickStep method performs per
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* step.
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* @ingroup world
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* @remarks
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* More iterations will give a more accurate solution, but will take
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* longer to compute.
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* @param num The default is 20 iterations.
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*/
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ODE_API void dWorldSetQuickStepNumIterations (dWorldID, int num);
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/**
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* @brief Get the number of iterations that the QuickStep method performs per
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* step.
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* @ingroup world
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* @return nr of iterations
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*/
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ODE_API int dWorldGetQuickStepNumIterations (dWorldID);
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/**
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* @brief Set the SOR over-relaxation parameter
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* @ingroup world
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* @param over_relaxation value to use by SOR
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*/
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ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation);
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/**
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* @brief Get the SOR over-relaxation parameter
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* @ingroup world
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* @returns the over-relaxation setting
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*/
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ODE_API dReal dWorldGetQuickStepW (dWorldID);
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/* World contact parameter functions */
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/**
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* @brief Set the maximum correcting velocity that contacts are allowed
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* to generate.
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* @ingroup world
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* @param vel The default value is infinity (i.e. no limit).
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* @remarks
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* Reducing this value can help prevent "popping" of deeply embedded objects.
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*/
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ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel);
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/**
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* @brief Get the maximum correcting velocity that contacts are allowed
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* to generated.
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* @ingroup world
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*/
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ODE_API dReal dWorldGetContactMaxCorrectingVel (dWorldID);
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/**
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* @brief Set the depth of the surface layer around all geometry objects.
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* @ingroup world
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* @remarks
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* Contacts are allowed to sink into the surface layer up to the given
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* depth before coming to rest.
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* @param depth The default value is zero.
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* @remarks
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* Increasing this to some small value (e.g. 0.001) can help prevent
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* jittering problems due to contacts being repeatedly made and broken.
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*/
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ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth);
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/**
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* @brief Get the depth of the surface layer around all geometry objects.
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* @ingroup world
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* @returns the depth
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*/
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ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID);
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/* StepFast1 functions */
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/**
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* @brief Step the world using the StepFast1 algorithm.
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* @param stepsize the nr of seconds to advance the simulation.
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* @param maxiterations The number of iterations to perform.
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* @ingroup world
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*/
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ODE_API void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations);
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/**
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* @defgroup disable Automatic Enabling and Disabling
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*
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* Every body can be enabled or disabled. Enabled bodies participate in the
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* simulation, while disabled bodies are turned off and do not get updated
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* during a simulation step. New bodies are always created in the enabled state.
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*
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* A disabled body that is connected through a joint to an enabled body will be
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* automatically re-enabled at the next simulation step.
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*
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* Disabled bodies do not consume CPU time, therefore to speed up the simulation
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* bodies should be disabled when they come to rest. This can be done automatically
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* with the auto-disable feature.
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*
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* If a body has its auto-disable flag turned on, it will automatically disable
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* itself when
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* @li It has been idle for a given number of simulation steps.
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* @li It has also been idle for a given amount of simulation time.
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*
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* A body is considered to be idle when the magnitudes of both its
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* linear average velocity and angular average velocity are below given thresholds.
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* The sample size for the average defaults to one and can be disabled by setting
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* to zero with
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*
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* Thus, every body has six auto-disable parameters: an enabled flag, a idle step
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* count, an idle time, linear/angular average velocity thresholds, and the
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* average samples count.
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*
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* Newly created bodies get these parameters from world.
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*/
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/**
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* @brief Set the AutoEnableDepth parameter used by the StepFast1 algorithm.
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* @ingroup disable
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*/
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ODE_API void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth);
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/**
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* @brief Get the AutoEnableDepth parameter used by the StepFast1 algorithm.
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* @ingroup disable
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*/
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ODE_API int dWorldGetAutoEnableDepthSF1(dWorldID);
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/**
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* @brief Get auto disable linear threshold for newly created bodies.
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* @ingroup disable
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* @return the threshold
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*/
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ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID);
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/**
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* @brief Set auto disable linear threshold for newly created bodies.
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* @param linear_threshold default is 0.01
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* @ingroup disable
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*/
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ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold);
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/**
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* @brief Get auto disable angular threshold for newly created bodies.
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* @ingroup disable
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* @return the threshold
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*/
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ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID);
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/**
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* @brief Set auto disable angular threshold for newly created bodies.
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* @param linear_threshold default is 0.01
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* @ingroup disable
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*/
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ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold);
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/**
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* @brief Get auto disable linear average threshold for newly created bodies.
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* @ingroup disable
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* @return the threshold
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*/
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ODE_API dReal dWorldGetAutoDisableLinearAverageThreshold (dWorldID);
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/**
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* @brief Set auto disable linear average threshold for newly created bodies.
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* @param linear_average_threshold default is 0.01
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* @ingroup disable
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*/
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ODE_API void dWorldSetAutoDisableLinearAverageThreshold (dWorldID, dReal linear_average_threshold);
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/**
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* @brief Get auto disable angular average threshold for newly created bodies.
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* @ingroup disable
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* @return the threshold
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*/
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ODE_API dReal dWorldGetAutoDisableAngularAverageThreshold (dWorldID);
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/**
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* @brief Set auto disable angular average threshold for newly created bodies.
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* @param linear_average_threshold default is 0.01
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* @ingroup disable
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*/
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ODE_API void dWorldSetAutoDisableAngularAverageThreshold (dWorldID, dReal angular_average_threshold);
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/**
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* @brief Get auto disable sample count for newly created bodies.
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* @ingroup disable
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* @return number of samples used
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*/
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ODE_API int dWorldGetAutoDisableAverageSamplesCount (dWorldID);
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/**
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* @brief Set auto disable average sample count for newly created bodies.
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* @ingroup disable
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* @param average_samples_count Default is 1, meaning only instantaneous velocity is used.
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* Set to zero to disable sampling and thus prevent any body from auto-disabling.
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*/
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ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count );
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/**
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* @brief Get auto disable steps for newly created bodies.
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* @ingroup disable
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* @return nr of steps
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*/
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ODE_API int dWorldGetAutoDisableSteps (dWorldID);
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/**
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* @brief Set auto disable steps for newly created bodies.
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* @ingroup disable
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* @param steps default is 10
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*/
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ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps);
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/**
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* @brief Get auto disable time for newly created bodies.
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* @ingroup disable
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* @return nr of seconds
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*/
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ODE_API dReal dWorldGetAutoDisableTime (dWorldID);
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/**
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* @brief Set auto disable time for newly created bodies.
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* @ingroup disable
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* @param time default is 0 seconds
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*/
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ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time);
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/**
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* @brief Get auto disable flag for newly created bodies.
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* @ingroup disable
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* @return 0 or 1
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*/
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ODE_API int dWorldGetAutoDisableFlag (dWorldID);
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/**
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* @brief Set auto disable flag for newly created bodies.
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* @ingroup disable
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* @param do_auto_disable default is false.
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*/
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ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable);
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/**
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* @defgroup bodies Rigid Bodies
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*
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* A rigid body has various properties from the point of view of the
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* simulation. Some properties change over time:
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*
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* @li Position vector (x,y,z) of the body's point of reference.
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* Currently the point of reference must correspond to the body's center of mass.
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* @li Linear velocity of the point of reference, a vector (vx,vy,vz).
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* @li Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or
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* a 3x3 rotation matrix.
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* @li Angular velocity vector (wx,wy,wz) which describes how the orientation
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* changes over time.
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*
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* Other body properties are usually constant over time:
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*
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* @li Mass of the body.
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* @li Position of the center of mass with respect to the point of reference.
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* In the current implementation the center of mass and the point of
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* reference must coincide.
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* @li Inertia matrix. This is a 3x3 matrix that describes how the body's mass
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* is distributed around the center of mass. Conceptually each body has an
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* x-y-z coordinate frame embedded in it that moves and rotates with the body.
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*
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* The origin of this coordinate frame is the body's point of reference. Some values
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* in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others
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* are relative to the global coordinate frame.
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*
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* Note that the shape of a rigid body is not a dynamical property (except insofar as
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* it influences the various mass properties). It is only collision detection that cares
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* about the detailed shape of the body.
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*/
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/**
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* @brief Get auto disable linear average threshold.
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* @ingroup bodies
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* @return the threshold
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*/
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ODE_API dReal dBodyGetAutoDisableLinearThreshold (dBodyID);
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/**
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* @brief Set auto disable linear average threshold.
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* @ingroup bodies
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* @return the threshold
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*/
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ODE_API void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold);
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/**
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* @brief Get auto disable angular average threshold.
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* @ingroup bodies
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* @return the threshold
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*/
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ODE_API dReal dBodyGetAutoDisableAngularThreshold (dBodyID);
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/**
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* @brief Set auto disable angular average threshold.
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* @ingroup bodies
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* @return the threshold
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*/
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ODE_API void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold);
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/**
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* @brief Get auto disable average size (samples count).
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* @ingroup bodies
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* @return the nr of steps/size.
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*/
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ODE_API int dBodyGetAutoDisableAverageSamplesCount (dBodyID);
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/**
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* @brief Set auto disable average buffer size (average steps).
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* @ingroup bodies
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* @param average_samples_count the nr of samples to review.
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*/
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ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count);
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/**
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* @brief Get auto steps a body must be thought of as idle to disable
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* @ingroup bodies
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* @return the nr of steps
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*/
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ODE_API int dBodyGetAutoDisableSteps (dBodyID);
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/**
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* @brief Set auto disable steps.
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* @ingroup bodies
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* @param steps the nr of steps.
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*/
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ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps);
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/**
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* @brief Get auto disable time.
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* @ingroup bodies
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* @return nr of seconds
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*/
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ODE_API dReal dBodyGetAutoDisableTime (dBodyID);
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/**
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* @brief Set auto disable time.
|
|
* @ingroup bodies
|
|
* @param time nr of seconds.
|
|
*/
|
|
ODE_API void dBodySetAutoDisableTime (dBodyID, dReal time);
|
|
|
|
/**
|
|
* @brief Get auto disable flag.
|
|
* @ingroup bodies
|
|
* @return 0 or 1
|
|
*/
|
|
ODE_API int dBodyGetAutoDisableFlag (dBodyID);
|
|
|
|
/**
|
|
* @brief Set auto disable flag.
|
|
* @ingroup bodies
|
|
* @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
|
|
*/
|
|
ODE_API void dBodySetAutoDisableDefaults (dBodyID);
|
|
|
|
|
|
/**
|
|
* @brief Retrives 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 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);
|
|
|
|
|
|
|
|
/**
|
|
* @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 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 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 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 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 JointTypeBall
|
|
* \li JointTypeHinge
|
|
* \li JointTypeSlider
|
|
* \li JointTypeContact
|
|
* \li JointTypeUniversal
|
|
* \li JointTypeHinge2
|
|
* \li JointTypeFixed
|
|
* \li JointTypeAMotor
|
|
* \li JointTypeLMotor
|
|
*/
|
|
ODE_API int 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 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 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 axis
|
|
* @ingroup joints
|
|
*/
|
|
ODE_API void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
|
|
|
|
/**
|
|
* @brief set axis
|
|
* @ingroup joints
|
|
*/
|
|
ODE_API void dJointSetHinge2Axis2 (dJointID, 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 axis
|
|
* @ingroup joints
|
|
*/
|
|
ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
|
|
|
|
/**
|
|
* @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 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 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 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.
|
|
* 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.
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|
* @ingroup joints
|
|
*/
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|
ODE_API dReal dJointGetHingeAngle (dJointID);
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|
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|
/**
|
|
* @brief Get the hinge angle time derivative.
|
|
* @ingroup joints
|
|
*/
|
|
ODE_API dReal dJointGetHingeAngleRate (dJointID);
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|
|
|
/**
|
|
* @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.
|
|
* @ingroup joints
|
|
*/
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|
ODE_API dReal dJointGetSliderPosition (dJointID);
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|
|
|
/**
|
|
* @brief Get the slider linear position's time derivative.
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|
* @ingroup joints
|
|
*/
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|
ODE_API dReal dJointGetSliderPositionRate (dJointID);
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|
|
|
/**
|
|
* @brief Get the slider axis
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|
* @ingroup joints
|
|
*/
|
|
ODE_API void dJointGetSliderAxis (dJointID, dVector3 result);
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|
|
|
/**
|
|
* @brief get joint parameter
|
|
* @ingroup joints
|
|
*/
|
|
ODE_API dReal dJointGetSliderParam (dJointID, int parameter);
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|
|
|
/**
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|
* @brief Get the joint anchor point, in world coordinates.
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|
* @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
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|
*/
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|
ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result);
|
|
|
|
/**
|
|
* @brief Get the joint anchor point, in world coordinates.
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|
* This returns the point on body 2. If the joint is perfectly satisfied,
|
|
* this will return the same value as dJointGetHinge2Anchor.
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|
* 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);
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|
|
|
/**
|
|
* @brief Get joint axis
|
|
* @ingroup joints
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|
*/
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|
ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result);
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|
|
|
/**
|
|
* @brief Get joint axis
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|
* @ingroup joints
|
|
*/
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|
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 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 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 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);
|
|
|
|
|
|
/**
|
|
* @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
|