/usr/include/ode/odecpp.h is in libode-dev 2:0.14-2.
This file is owned by root:root, with mode 0o644.
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* *
* 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. *
* *
*************************************************************************/
/* C++ interface for non-collision stuff */
#ifndef _ODE_ODECPP_H_
#define _ODE_ODECPP_H_
#ifdef __cplusplus
//namespace ode {
class dWorldSimpleIDContainer {
protected:
dWorldID _id;
dWorldSimpleIDContainer(): _id(0) {}
~dWorldSimpleIDContainer() { destroy(); }
void destroy() {
if (_id) {
dWorldDestroy(_id);
_id = 0;
}
}
};
class dWorldDynamicIDContainer: public dWorldSimpleIDContainer {
protected:
virtual ~dWorldDynamicIDContainer() {}
};
template <class dWorldTemplateBase>
class dWorldTemplate: public dWorldTemplateBase {
// intentionally undefined, don't use these
dWorldTemplate (const dWorldTemplate<dWorldTemplateBase> &);
void operator= (const dWorldTemplate<dWorldTemplateBase> &);
protected:
dWorldID get_id() const { return dWorldTemplateBase::_id; }
void set_id(dWorldID value) { dWorldTemplateBase::_id = value; }
public:
dWorldTemplate()
{ set_id(dWorldCreate()); }
dWorldID id() const
{ return get_id(); }
operator dWorldID() const
{ return get_id(); }
void setGravity (dReal x, dReal y, dReal z)
{ dWorldSetGravity (get_id(), x, y, z); }
void setGravity (const dVector3 g)
{ setGravity (g[0], g[1], g[2]); }
void getGravity (dVector3 g) const
{ dWorldGetGravity (get_id(), g); }
void setERP (dReal erp)
{ dWorldSetERP(get_id(), erp); }
dReal getERP() const
{ return dWorldGetERP(get_id()); }
void setCFM (dReal cfm)
{ dWorldSetCFM(get_id(), cfm); }
dReal getCFM() const
{ return dWorldGetCFM(get_id()); }
void step (dReal stepsize)
{ dWorldStep (get_id(), stepsize); }
void quickStep(dReal stepsize)
{ dWorldQuickStep (get_id(), stepsize); }
void setQuickStepNumIterations(int num)
{ dWorldSetQuickStepNumIterations (get_id(), num); }
int getQuickStepNumIterations() const
{ return dWorldGetQuickStepNumIterations (get_id()); }
void setQuickStepW(dReal over_relaxation)
{ dWorldSetQuickStepW (get_id(), over_relaxation); }
dReal getQuickStepW() const
{ return dWorldGetQuickStepW (get_id()); }
void setAutoDisableLinearThreshold (dReal threshold)
{ dWorldSetAutoDisableLinearThreshold (get_id(), threshold); }
dReal getAutoDisableLinearThreshold() const
{ return dWorldGetAutoDisableLinearThreshold (get_id()); }
void setAutoDisableAngularThreshold (dReal threshold)
{ dWorldSetAutoDisableAngularThreshold (get_id(), threshold); }
dReal getAutoDisableAngularThreshold() const
{ return dWorldGetAutoDisableAngularThreshold (get_id()); }
void setAutoDisableSteps (int steps)
{ dWorldSetAutoDisableSteps (get_id(), steps); }
int getAutoDisableSteps() const
{ return dWorldGetAutoDisableSteps (get_id()); }
void setAutoDisableTime (dReal time)
{ dWorldSetAutoDisableTime (get_id(), time); }
dReal getAutoDisableTime() const
{ return dWorldGetAutoDisableTime (get_id()); }
void setAutoDisableFlag (int do_auto_disable)
{ dWorldSetAutoDisableFlag (get_id(), do_auto_disable); }
int getAutoDisableFlag() const
{ return dWorldGetAutoDisableFlag (get_id()); }
dReal getLinearDampingThreshold() const
{ return dWorldGetLinearDampingThreshold(get_id()); }
void setLinearDampingThreshold(dReal threshold)
{ dWorldSetLinearDampingThreshold(get_id(), threshold); }
dReal getAngularDampingThreshold() const
{ return dWorldGetAngularDampingThreshold(get_id()); }
void setAngularDampingThreshold(dReal threshold)
{ dWorldSetAngularDampingThreshold(get_id(), threshold); }
dReal getLinearDamping() const
{ return dWorldGetLinearDamping(get_id()); }
void setLinearDamping(dReal scale)
{ dWorldSetLinearDamping(get_id(), scale); }
dReal getAngularDamping() const
{ return dWorldGetAngularDamping(get_id()); }
void setAngularDamping(dReal scale)
{ dWorldSetAngularDamping(get_id(), scale); }
void setDamping(dReal linear_scale, dReal angular_scale)
{ dWorldSetDamping(get_id(), linear_scale, angular_scale); }
dReal getMaxAngularSpeed() const
{ return dWorldGetMaxAngularSpeed(get_id()); }
void setMaxAngularSpeed(dReal max_speed)
{ dWorldSetMaxAngularSpeed(get_id(), max_speed); }
void setContactSurfaceLayer(dReal depth)
{ dWorldSetContactSurfaceLayer (get_id(), depth); }
dReal getContactSurfaceLayer() const
{ return dWorldGetContactSurfaceLayer (get_id()); }
void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
dVector3 force)
{ dWorldImpulseToForce (get_id(), stepsize, ix, iy, iz, force); }
};
class dBodySimpleIDContainer {
protected:
dBodyID _id;
dBodySimpleIDContainer(): _id(0) {}
~dBodySimpleIDContainer() { destroy(); }
void destroy() {
if (_id) {
dBodyDestroy(_id);
_id = 0;
}
}
};
class dBodyDynamicIDContainer: public dBodySimpleIDContainer {
protected:
virtual ~dBodyDynamicIDContainer() {}
};
template <class dBodyTemplateBase, class dWorldTemplateBase>
class dBodyTemplate: public dBodyTemplateBase {
// intentionally undefined, don't use these
dBodyTemplate (const dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase> &);
void operator= (const dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase> &);
protected:
dBodyID get_id() const { return dBodyTemplateBase::_id; }
void set_id(dBodyID value) { dBodyTemplateBase::_id = value; }
void destroy() { dBodyTemplateBase::destroy(); }
public:
dBodyTemplate()
{ }
dBodyTemplate (dWorldID world)
{ set_id(dBodyCreate(world)); }
dBodyTemplate (dWorldTemplate<dWorldTemplateBase>& world)
{ set_id(dBodyCreate(world.id())); }
void create (dWorldID world) {
destroy();
set_id(dBodyCreate(world));
}
void create (dWorldTemplate<dWorldTemplateBase>& world) {
create(world.id());
}
dBodyID id() const
{ return get_id(); }
operator dBodyID() const
{ return get_id(); }
void setData (void *data)
{ dBodySetData (get_id(), data); }
void *getData() const
{ return dBodyGetData (get_id()); }
void setPosition (dReal x, dReal y, dReal z)
{ dBodySetPosition (get_id(), x, y, z); }
void setPosition (const dVector3 p)
{ setPosition(p[0], p[1], p[2]); }
void setRotation (const dMatrix3 R)
{ dBodySetRotation (get_id(), R); }
void setQuaternion (const dQuaternion q)
{ dBodySetQuaternion (get_id(), q); }
void setLinearVel (dReal x, dReal y, dReal z)
{ dBodySetLinearVel (get_id(), x, y, z); }
void setLinearVel (const dVector3 v)
{ setLinearVel(v[0], v[1], v[2]); }
void setAngularVel (dReal x, dReal y, dReal z)
{ dBodySetAngularVel (get_id(), x, y, z); }
void setAngularVel (const dVector3 v)
{ setAngularVel (v[0], v[1], v[2]); }
const dReal * getPosition() const
{ return dBodyGetPosition (get_id()); }
const dReal * getRotation() const
{ return dBodyGetRotation (get_id()); }
const dReal * getQuaternion() const
{ return dBodyGetQuaternion (get_id()); }
const dReal * getLinearVel() const
{ return dBodyGetLinearVel (get_id()); }
const dReal * getAngularVel() const
{ return dBodyGetAngularVel (get_id()); }
void setMass (const dMass *mass)
{ dBodySetMass (get_id(), mass); }
void setMass (const dMass &mass)
{ setMass (&mass); }
dMass getMass () const
{ dMass mass; dBodyGetMass (get_id(), &mass); return mass; }
void addForce (dReal fx, dReal fy, dReal fz)
{ dBodyAddForce (get_id(), fx, fy, fz); }
void addForce (const dVector3 f)
{ addForce (f[0], f[1], f[2]); }
void addTorque (dReal fx, dReal fy, dReal fz)
{ dBodyAddTorque (get_id(), fx, fy, fz); }
void addTorque (const dVector3 t)
{ addTorque(t[0], t[1], t[2]); }
void addRelForce (dReal fx, dReal fy, dReal fz)
{ dBodyAddRelForce (get_id(), fx, fy, fz); }
void addRelForce (const dVector3 f)
{ addRelForce (f[0], f[1], f[2]); }
void addRelTorque (dReal fx, dReal fy, dReal fz)
{ dBodyAddRelTorque (get_id(), fx, fy, fz); }
void addRelTorque (const dVector3 t)
{ addRelTorque (t[0], t[1], t[2]); }
void addForceAtPos (dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz)
{ dBodyAddForceAtPos (get_id(), fx, fy, fz, px, py, pz); }
void addForceAtPos (const dVector3 f, const dVector3 p)
{ addForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz)
{ dBodyAddForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); }
void addForceAtRelPos (const dVector3 f, const dVector3 p)
{ addForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz)
{ dBodyAddRelForceAtPos (get_id(), fx, fy, fz, px, py, pz); }
void addRelForceAtPos (const dVector3 f, const dVector3 p)
{ addRelForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz)
{ dBodyAddRelForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); }
void addRelForceAtRelPos (const dVector3 f, const dVector3 p)
{ addRelForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
const dReal * getForce() const
{ return dBodyGetForce(get_id()); }
const dReal * getTorque() const
{ return dBodyGetTorque(get_id()); }
void setForce (dReal x, dReal y, dReal z)
{ dBodySetForce (get_id(), x, y, z); }
void setForce (const dVector3 f)
{ setForce (f[0], f[1], f[2]); }
void setTorque (dReal x, dReal y, dReal z)
{ dBodySetTorque (get_id(), x, y, z); }
void setTorque (const dVector3 t)
{ setTorque (t[0], t[1], t[2]); }
void setDynamic()
{ dBodySetDynamic (get_id()); }
void setKinematic()
{ dBodySetKinematic (get_id()); }
bool isKinematic() const
{ return dBodyIsKinematic (get_id()) != 0; }
void enable()
{ dBodyEnable (get_id()); }
void disable()
{ dBodyDisable (get_id()); }
bool isEnabled() const
{ return dBodyIsEnabled (get_id()) != 0; }
void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
{ dBodyGetRelPointPos (get_id(), px, py, pz, result); }
void getRelPointPos (const dVector3 p, dVector3 result) const
{ getRelPointPos (p[0], p[1], p[2], result); }
void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
{ dBodyGetRelPointVel (get_id(), px, py, pz, result); }
void getRelPointVel (const dVector3 p, dVector3 result) const
{ getRelPointVel (p[0], p[1], p[2], result); }
void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
{ dBodyGetPointVel (get_id(), px, py, pz, result); }
void getPointVel (const dVector3 p, dVector3 result) const
{ getPointVel (p[0], p[1], p[2], result); }
void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
{ dBodyGetPosRelPoint (get_id(), px, py, pz, result); }
void getPosRelPoint (const dVector3 p, dVector3 result) const
{ getPosRelPoint (p[0], p[1], p[2], result); }
void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
{ dBodyVectorToWorld (get_id(), px, py, pz, result); }
void vectorToWorld (const dVector3 p, dVector3 result) const
{ vectorToWorld (p[0], p[1], p[2], result); }
void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
{ dBodyVectorFromWorld (get_id(), px, py, pz, result); }
void vectorFromWorld (const dVector3 p, dVector3 result) const
{ vectorFromWorld (p[0], p[1], p[2], result); }
void setFiniteRotationMode (bool mode)
{ dBodySetFiniteRotationMode (get_id(), mode); }
void setFiniteRotationAxis (dReal x, dReal y, dReal z)
{ dBodySetFiniteRotationAxis (get_id(), x, y, z); }
void setFiniteRotationAxis (const dVector3 a)
{ setFiniteRotationAxis (a[0], a[1], a[2]); }
bool getFiniteRotationMode() const
{ return dBodyGetFiniteRotationMode (get_id()) != 0; }
void getFiniteRotationAxis (dVector3 result) const
{ dBodyGetFiniteRotationAxis (get_id(), result); }
int getNumJoints() const
{ return dBodyGetNumJoints (get_id()); }
dJointID getJoint (int index) const
{ return dBodyGetJoint (get_id(), index); }
void setGravityMode (bool mode)
{ dBodySetGravityMode (get_id(), mode); }
bool getGravityMode() const
{ return dBodyGetGravityMode (get_id()) != 0; }
bool isConnectedTo (dBodyID body) const
{ return dAreConnected (get_id(), body) != 0; }
void setAutoDisableLinearThreshold (dReal threshold)
{ dBodySetAutoDisableLinearThreshold (get_id(), threshold); }
dReal getAutoDisableLinearThreshold() const
{ return dBodyGetAutoDisableLinearThreshold (get_id()); }
void setAutoDisableAngularThreshold (dReal threshold)
{ dBodySetAutoDisableAngularThreshold (get_id(), threshold); }
dReal getAutoDisableAngularThreshold() const
{ return dBodyGetAutoDisableAngularThreshold (get_id()); }
void setAutoDisableSteps (int steps)
{ dBodySetAutoDisableSteps (get_id(), steps); }
int getAutoDisableSteps() const
{ return dBodyGetAutoDisableSteps (get_id()); }
void setAutoDisableTime (dReal time)
{ dBodySetAutoDisableTime (get_id(), time); }
dReal getAutoDisableTime() const
{ return dBodyGetAutoDisableTime (get_id()); }
void setAutoDisableFlag (bool do_auto_disable)
{ dBodySetAutoDisableFlag (get_id(), do_auto_disable); }
bool getAutoDisableFlag() const
{ return dBodyGetAutoDisableFlag (get_id()) != 0; }
dReal getLinearDamping() const
{ return dBodyGetLinearDamping(get_id()); }
void setLinearDamping(dReal scale)
{ dBodySetLinearDamping(get_id(), scale); }
dReal getAngularDamping() const
{ return dBodyGetAngularDamping(get_id()); }
void setAngularDamping(dReal scale)
{ dBodySetAngularDamping(get_id(), scale); }
void setDamping(dReal linear_scale, dReal angular_scale)
{ dBodySetDamping(get_id(), linear_scale, angular_scale); }
dReal getLinearDampingThreshold() const
{ return dBodyGetLinearDampingThreshold(get_id()); }
void setLinearDampingThreshold(dReal threshold) const
{ dBodySetLinearDampingThreshold(get_id(), threshold); }
dReal getAngularDampingThreshold() const
{ return dBodyGetAngularDampingThreshold(get_id()); }
void setAngularDampingThreshold(dReal threshold)
{ dBodySetAngularDampingThreshold(get_id(), threshold); }
void setDampingDefaults()
{ dBodySetDampingDefaults(get_id()); }
dReal getMaxAngularSpeed() const
{ return dBodyGetMaxAngularSpeed(get_id()); }
void setMaxAngularSpeed(dReal max_speed)
{ dBodySetMaxAngularSpeed(get_id(), max_speed); }
bool getGyroscopicMode() const
{ return dBodyGetGyroscopicMode(get_id()) != 0; }
void setGyroscopicMode(bool mode)
{ dBodySetGyroscopicMode(get_id(), mode); }
};
class dJointGroupSimpleIDContainer {
protected:
dJointGroupID _id;
dJointGroupSimpleIDContainer(): _id(0) {}
~dJointGroupSimpleIDContainer() { destroy(); }
void destroy() {
if (_id) {
dJointGroupDestroy(_id);
_id = 0;
}
}
};
class dJointGroupDynamicIDContainer: public dJointGroupSimpleIDContainer {
protected:
virtual ~dJointGroupDynamicIDContainer() {}
};
template <class dJointGroupTemplateBase>
class dJointGroupTemplate: public dJointGroupTemplateBase {
// intentionally undefined, don't use these
dJointGroupTemplate (const dJointGroupTemplate<dJointGroupTemplateBase> &);
void operator= (const dJointGroupTemplate<dJointGroupTemplateBase> &);
protected:
dJointGroupID get_id() const { return dJointGroupTemplateBase::_id; }
void set_id(dJointGroupID value) { dJointGroupTemplateBase::_id = value; }
void destroy() { dJointGroupTemplateBase::destroy(); }
public:
dJointGroupTemplate ()
{ set_id(dJointGroupCreate(0)); }
void create () {
destroy();
set_id(dJointGroupCreate(0));
}
dJointGroupID id() const
{ return get_id(); }
operator dJointGroupID() const
{ return get_id(); }
void empty()
{ dJointGroupEmpty (get_id()); }
void clear()
{ empty(); }
};
class dJointSimpleIDContainer {
protected:
dJointID _id;
dJointSimpleIDContainer(): _id(0) {}
~dJointSimpleIDContainer() { destroy(); }
void destroy() {
if (_id) {
dJointDestroy (_id);
_id = 0;
}
}
};
class dJointDynamicIDContainer: public dJointSimpleIDContainer {
protected:
virtual ~dJointDynamicIDContainer() {}
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dJointTemplate: public dJointTemplateBase {
private:
// intentionally undefined, don't use these
dJointTemplate (const dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &) ;
void operator= (const dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
dJointID get_id() const { return dJointTemplateBase::_id; }
void set_id(dJointID value) { dJointTemplateBase::_id = value; }
void destroy() { dJointTemplateBase::destroy(); }
protected:
dJointTemplate() // don't let user construct pure dJointTemplate objects
{ }
public:
dJointID id() const
{ return get_id(); }
operator dJointID() const
{ return get_id(); }
int getNumBodies() const
{ return dJointGetNumBodies(get_id()); }
void attach (dBodyID body1, dBodyID body2)
{ dJointAttach (get_id(), body1, body2); }
void attach (dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase>& body1, dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase>& body2)
{ attach(body1.id(), body2.id()); }
void enable()
{ dJointEnable (get_id()); }
void disable()
{ dJointDisable (get_id()); }
bool isEnabled() const
{ return dJointIsEnabled (get_id()) != 0; }
void setData (void *data)
{ dJointSetData (get_id(), data); }
void *getData() const
{ return dJointGetData (get_id()); }
dJointType getType() const
{ return dJointGetType (get_id()); }
dBodyID getBody (int index) const
{ return dJointGetBody (get_id(), index); }
void setFeedback(dJointFeedback *fb)
{ dJointSetFeedback(get_id(), fb); }
dJointFeedback *getFeedback() const
{ return dJointGetFeedback(get_id()); }
// If not implemented it will do nothing as describe in the doc
virtual void setParam (int, dReal) {};
virtual dReal getParam (int) const { return 0; }
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dBallJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
private:
// intentionally undefined, don't use these
dBallJointTemplate (const dBallJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator= (const dBallJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dBallJointTemplate() { }
dBallJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreateBall(world, group)); }
dBallJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreateBall(world.id(), group)); }
void create (dWorldID world, dJointGroupID group=0) {
destroy();
set_id(dJointCreateBall(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void setAnchor (dReal x, dReal y, dReal z)
{ dJointSetBallAnchor (get_id(), x, y, z); }
void setAnchor (const dVector3 a)
{ setAnchor (a[0], a[1], a[2]); }
void getAnchor (dVector3 result) const
{ dJointGetBallAnchor (get_id(), result); }
void getAnchor2 (dVector3 result) const
{ dJointGetBallAnchor2 (get_id(), result); }
virtual void setParam (int parameter, dReal value)
{ dJointSetBallParam (get_id(), parameter, value); }
virtual dReal getParam (int parameter) const
{ return dJointGetBallParam (get_id(), parameter); }
// TODO: expose params through methods
} ;
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dHingeJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
private:
// intentionally undefined, don't use these
dHingeJointTemplate (const dHingeJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dHingeJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dHingeJointTemplate() { }
dHingeJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreateHinge(world, group)); }
dHingeJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreateHinge(world.id(), group)); }
void create (dWorldID world, dJointGroupID group=0) {
destroy();
set_id(dJointCreateHinge (world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void setAnchor (dReal x, dReal y, dReal z)
{ dJointSetHingeAnchor (get_id(), x, y, z); }
void setAnchor (const dVector3 a)
{ setAnchor (a[0], a[1], a[2]); }
void getAnchor (dVector3 result) const
{ dJointGetHingeAnchor (get_id(), result); }
void getAnchor2 (dVector3 result) const
{ dJointGetHingeAnchor2 (get_id(), result); }
void setAxis (dReal x, dReal y, dReal z)
{ dJointSetHingeAxis (get_id(), x, y, z); }
void setAxis (const dVector3 a)
{ setAxis(a[0], a[1], a[2]); }
void getAxis (dVector3 result) const
{ dJointGetHingeAxis (get_id(), result); }
dReal getAngle() const
{ return dJointGetHingeAngle (get_id()); }
dReal getAngleRate() const
{ return dJointGetHingeAngleRate (get_id()); }
virtual void setParam (int parameter, dReal value)
{ dJointSetHingeParam (get_id(), parameter, value); }
virtual dReal getParam (int parameter) const
{ return dJointGetHingeParam (get_id(), parameter); }
// TODO: expose params through methods
void addTorque (dReal torque)
{ dJointAddHingeTorque(get_id(), torque); }
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dSliderJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
private:
// intentionally undefined, don't use these
dSliderJointTemplate (const dSliderJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dSliderJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dSliderJointTemplate() { }
dSliderJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreateSlider(world, group)); }
dSliderJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreateSlider(world.id(), group)); }
void create (dWorldID world, dJointGroupID group=0) {
destroy();
set_id(dJointCreateSlider(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void setAxis (dReal x, dReal y, dReal z)
{ dJointSetSliderAxis (get_id(), x, y, z); }
void setAxis (const dVector3 a)
{ setAxis (a[0], a[1], a[2]); }
void getAxis (dVector3 result) const
{ dJointGetSliderAxis (get_id(), result); }
dReal getPosition() const
{ return dJointGetSliderPosition (get_id()); }
dReal getPositionRate() const
{ return dJointGetSliderPositionRate (get_id()); }
virtual void setParam (int parameter, dReal value)
{ dJointSetSliderParam (get_id(), parameter, value); }
virtual dReal getParam (int parameter) const
{ return dJointGetSliderParam (get_id(), parameter); }
// TODO: expose params through methods
void addForce (dReal force)
{ dJointAddSliderForce(get_id(), force); }
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dUniversalJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
private:
// intentionally undefined, don't use these
dUniversalJointTemplate (const dUniversalJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dUniversalJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dUniversalJointTemplate() { }
dUniversalJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreateUniversal(world, group)); }
dUniversalJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreateUniversal(world.id(), group)); }
void create (dWorldID world, dJointGroupID group=0) {
destroy();
set_id(dJointCreateUniversal(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void setAnchor (dReal x, dReal y, dReal z)
{ dJointSetUniversalAnchor (get_id(), x, y, z); }
void setAnchor (const dVector3 a)
{ setAnchor(a[0], a[1], a[2]); }
void setAxis1 (dReal x, dReal y, dReal z)
{ dJointSetUniversalAxis1 (get_id(), x, y, z); }
void setAxis1 (const dVector3 a)
{ setAxis1 (a[0], a[1], a[2]); }
void setAxis2 (dReal x, dReal y, dReal z)
{ dJointSetUniversalAxis2 (get_id(), x, y, z); }
void setAxis2 (const dVector3 a)
{ setAxis2 (a[0], a[1], a[2]); }
void getAnchor (dVector3 result) const
{ dJointGetUniversalAnchor (get_id(), result); }
void getAnchor2 (dVector3 result) const
{ dJointGetUniversalAnchor2 (get_id(), result); }
void getAxis1 (dVector3 result) const
{ dJointGetUniversalAxis1 (get_id(), result); }
void getAxis2 (dVector3 result) const
{ dJointGetUniversalAxis2 (get_id(), result); }
virtual void setParam (int parameter, dReal value)
{ dJointSetUniversalParam (get_id(), parameter, value); }
virtual dReal getParam (int parameter) const
{ return dJointGetUniversalParam (get_id(), parameter); }
// TODO: expose params through methods
void getAngles(dReal *angle1, dReal *angle2) const
{ dJointGetUniversalAngles (get_id(), angle1, angle2); }
dReal getAngle1() const
{ return dJointGetUniversalAngle1 (get_id()); }
dReal getAngle1Rate() const
{ return dJointGetUniversalAngle1Rate (get_id()); }
dReal getAngle2() const
{ return dJointGetUniversalAngle2 (get_id()); }
dReal getAngle2Rate() const
{ return dJointGetUniversalAngle2Rate (get_id()); }
void addTorques (dReal torque1, dReal torque2)
{ dJointAddUniversalTorques(get_id(), torque1, torque2); }
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dHinge2JointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
private:
// intentionally undefined, don't use these
dHinge2JointTemplate (const dHinge2JointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dHinge2JointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dHinge2JointTemplate() { }
dHinge2JointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreateHinge2(world, group)); }
dHinge2JointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreateHinge2(world.id(), group)); }
void create (dWorldID world, dJointGroupID group=0) {
destroy();
set_id(dJointCreateHinge2(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void setAnchor (dReal x, dReal y, dReal z)
{ dJointSetHinge2Anchor (get_id(), x, y, z); }
void setAnchor (const dVector3 a)
{ setAnchor(a[0], a[1], a[2]); }
void setAxis1 (dReal x, dReal y, dReal z)
{ dJointSetHinge2Axis1 (get_id(), x, y, z); }
void setAxis1 (const dVector3 a)
{ setAxis1 (a[0], a[1], a[2]); }
void setAxis2 (dReal x, dReal y, dReal z)
{ dJointSetHinge2Axis2 (get_id(), x, y, z); }
void setAxis2 (const dVector3 a)
{ setAxis2 (a[0], a[1], a[2]); }
void getAnchor (dVector3 result) const
{ dJointGetHinge2Anchor (get_id(), result); }
void getAnchor2 (dVector3 result) const
{ dJointGetHinge2Anchor2 (get_id(), result); }
void getAxis1 (dVector3 result) const
{ dJointGetHinge2Axis1 (get_id(), result); }
void getAxis2 (dVector3 result) const
{ dJointGetHinge2Axis2 (get_id(), result); }
dReal getAngle1() const
{ return dJointGetHinge2Angle1 (get_id()); }
dReal getAngle1Rate() const
{ return dJointGetHinge2Angle1Rate (get_id()); }
dReal getAngle2Rate() const
{ return dJointGetHinge2Angle2Rate (get_id()); }
virtual void setParam (int parameter, dReal value)
{ dJointSetHinge2Param (get_id(), parameter, value); }
virtual dReal getParam (int parameter) const
{ return dJointGetHinge2Param (get_id(), parameter); }
// TODO: expose params through methods
void addTorques(dReal torque1, dReal torque2)
{ dJointAddHinge2Torques(get_id(), torque1, torque2); }
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dPRJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
private:
// intentionally undefined, don't use these
dPRJointTemplate (const dPRJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dPRJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dPRJointTemplate() { }
dPRJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreatePR(world, group)); }
dPRJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreatePR(world.id(), group)); }
void create (dWorldID world, dJointGroupID group=0) {
destroy();
set_id(dJointCreatePR(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void setAnchor (dReal x, dReal y, dReal z)
{ dJointSetPRAnchor (get_id(), x, y, z); }
void setAnchor (const dVector3 a)
{ setAnchor (a[0], a[1], a[2]); }
void setAxis1 (dReal x, dReal y, dReal z)
{ dJointSetPRAxis1 (get_id(), x, y, z); }
void setAxis1 (const dVector3 a)
{ setAxis1(a[0], a[1], a[2]); }
void setAxis2 (dReal x, dReal y, dReal z)
{ dJointSetPRAxis2 (get_id(), x, y, z); }
void setAxis2 (const dVector3 a)
{ setAxis2(a[0], a[1], a[2]); }
void getAnchor (dVector3 result) const
{ dJointGetPRAnchor (get_id(), result); }
void getAxis1 (dVector3 result) const
{ dJointGetPRAxis1 (get_id(), result); }
void getAxis2 (dVector3 result) const
{ dJointGetPRAxis2 (get_id(), result); }
dReal getPosition() const
{ return dJointGetPRPosition (get_id()); }
dReal getPositionRate() const
{ return dJointGetPRPositionRate (get_id()); }
dReal getAngle() const
{ return dJointGetPRAngle (get_id()); }
dReal getAngleRate() const
{ return dJointGetPRAngleRate (get_id()); }
virtual void setParam (int parameter, dReal value)
{ dJointSetPRParam (get_id(), parameter, value); }
virtual dReal getParam (int parameter) const
{ return dJointGetPRParam (get_id(), parameter); }
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dPUJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase>
{
private:
// intentionally undefined, don't use these
dPUJointTemplate (const dPUJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dPUJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dPUJointTemplate() { }
dPUJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreatePU(world, group)); }
dPUJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreatePU(world.id(), group)); }
void create (dWorldID world, dJointGroupID group=0)
{
destroy();
set_id(dJointCreatePU(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void setAnchor (dReal x, dReal y, dReal z)
{ dJointSetPUAnchor (get_id(), x, y, z); }
void setAnchor (const dVector3 a)
{ setAnchor (a[0], a[1], a[2]); }
void setAxis1 (dReal x, dReal y, dReal z)
{ dJointSetPUAxis1 (get_id(), x, y, z); }
void setAxis1 (const dVector3 a)
{ setAxis1(a[0], a[1], a[2]); }
void setAxis2 (dReal x, dReal y, dReal z)
{ dJointSetPUAxis2 (get_id(), x, y, z); }
void setAxis3 (dReal x, dReal y, dReal z)
{ dJointSetPUAxis3 (get_id(), x, y, z); }
void setAxis3 (const dVector3 a)
{ setAxis3(a[0], a[1], a[2]); }
void setAxisP (dReal x, dReal y, dReal z)
{ dJointSetPUAxis3 (get_id(), x, y, z); }
void setAxisP (const dVector3 a)
{ setAxisP(a[0], a[1], a[2]); }
virtual void getAnchor (dVector3 result) const
{ dJointGetPUAnchor (get_id(), result); }
void getAxis1 (dVector3 result) const
{ dJointGetPUAxis1 (get_id(), result); }
void getAxis2 (dVector3 result) const
{ dJointGetPUAxis2 (get_id(), result); }
void getAxis3 (dVector3 result) const
{ dJointGetPUAxis3 (get_id(), result); }
void getAxisP (dVector3 result) const
{ dJointGetPUAxis3 (get_id(), result); }
dReal getAngle1() const
{ return dJointGetPUAngle1 (get_id()); }
dReal getAngle1Rate() const
{ return dJointGetPUAngle1Rate (get_id()); }
dReal getAngle2() const
{ return dJointGetPUAngle2 (get_id()); }
dReal getAngle2Rate() const
{ return dJointGetPUAngle2Rate (get_id()); }
dReal getPosition() const
{ return dJointGetPUPosition (get_id()); }
dReal getPositionRate() const
{ return dJointGetPUPositionRate (get_id()); }
virtual void setParam (int parameter, dReal value)
{ dJointSetPUParam (get_id(), parameter, value); }
virtual dReal getParam (int parameter) const
{ return dJointGetPUParam (get_id(), parameter); }
// TODO: expose params through methods
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dPistonJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase>
{
private:
// intentionally undefined, don't use these
dPistonJointTemplate (const dPistonJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dPistonJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dPistonJointTemplate() { }
dPistonJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreatePiston(world, group)); }
dPistonJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreatePiston(world, group)); }
void create (dWorldID world, dJointGroupID group=0)
{
destroy();
set_id(dJointCreatePiston(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void setAnchor (dReal x, dReal y, dReal z)
{ dJointSetPistonAnchor (get_id(), x, y, z); }
void setAnchor (const dVector3 a)
{ setAnchor (a[0], a[1], a[2]); }
void getAnchor (dVector3 result) const
{ dJointGetPistonAnchor (get_id(), result); }
void getAnchor2 (dVector3 result) const
{ dJointGetPistonAnchor2 (get_id(), result); }
void setAxis (dReal x, dReal y, dReal z)
{ dJointSetPistonAxis (get_id(), x, y, z); }
void setAxis (const dVector3 a)
{ setAxis(a[0], a[1], a[2]); }
void getAxis (dVector3 result) const
{ dJointGetPistonAxis (get_id(), result); }
dReal getPosition() const
{ return dJointGetPistonPosition (get_id()); }
dReal getPositionRate() const
{ return dJointGetPistonPositionRate (get_id()); }
virtual void setParam (int parameter, dReal value)
{ dJointSetPistonParam (get_id(), parameter, value); }
virtual dReal getParam (int parameter) const
{ return dJointGetPistonParam (get_id(), parameter); }
// TODO: expose params through methods
void addForce (dReal force)
{ dJointAddPistonForce (get_id(), force); }
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dFixedJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase>
{
private:
// intentionally undefined, don't use these
dFixedJointTemplate (const dFixedJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dFixedJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dFixedJointTemplate() { }
dFixedJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreateFixed(world, group)); }
dFixedJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreateFixed(world, group)); }
void create (dWorldID world, dJointGroupID group=0) {
destroy();
set_id(dJointCreateFixed(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void set()
{ dJointSetFixed (get_id()); }
virtual void setParam (int parameter, dReal value)
{ dJointSetFixedParam (get_id(), parameter, value); }
virtual dReal getParam (int parameter) const
{ return dJointGetFixedParam (get_id(), parameter); }
// TODO: expose params through methods
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dContactJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
private:
// intentionally undefined, don't use these
dContactJointTemplate (const dContactJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dContactJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dContactJointTemplate() { }
dContactJointTemplate (dWorldID world, dJointGroupID group, dContact *contact)
{ set_id(dJointCreateContact(world, group, contact)); }
dContactJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group, dContact *contact)
{ set_id(dJointCreateContact(world.id(), group, contact)); }
void create (dWorldID world, dJointGroupID group, dContact *contact) {
destroy();
set_id(dJointCreateContact(world, group, contact));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group, dContact *contact)
{ create(world.id(), group, contact); }
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dNullJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
private:
// intentionally undefined, don't use these
dNullJointTemplate (const dNullJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dNullJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dNullJointTemplate() { }
dNullJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreateNull(world, group)); }
dNullJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreateNull (world.id(), group)); }
void create (dWorldID world, dJointGroupID group=0) {
destroy();
set_id(dJointCreateNull(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dAMotorJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
private:
// intentionally undefined, don't use these
dAMotorJointTemplate (const dAMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dAMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dAMotorJointTemplate() { }
dAMotorJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreateAMotor(world, group)); }
dAMotorJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreateAMotor(world.id(), group)); }
void create (dWorldID world, dJointGroupID group=0) {
destroy();
set_id(dJointCreateAMotor(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void setMode (int mode)
{ dJointSetAMotorMode (get_id(), mode); }
int getMode() const
{ return dJointGetAMotorMode (get_id()); }
void setNumAxes (int num)
{ dJointSetAMotorNumAxes (get_id(), num); }
int getNumAxes() const
{ return dJointGetAMotorNumAxes (get_id()); }
void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
{ dJointSetAMotorAxis (get_id(), anum, rel, x, y, z); }
void setAxis (int anum, int rel, const dVector3 a)
{ setAxis(anum, rel, a[0], a[1], a[2]); }
void getAxis (int anum, dVector3 result) const
{ dJointGetAMotorAxis (get_id(), anum, result); }
int getAxisRel (int anum) const
{ return dJointGetAMotorAxisRel (get_id(), anum); }
void setAngle (int anum, dReal angle)
{ dJointSetAMotorAngle (get_id(), anum, angle); }
dReal getAngle (int anum) const
{ return dJointGetAMotorAngle (get_id(), anum); }
dReal getAngleRate (int anum)
{ return dJointGetAMotorAngleRate (get_id(), anum); }
void setParam (int parameter, dReal value)
{ dJointSetAMotorParam (get_id(), parameter, value); }
dReal getParam (int parameter) const
{ return dJointGetAMotorParam (get_id(), parameter); }
// TODO: expose params through methods
void addTorques(dReal torque1, dReal torque2, dReal torque3)
{ dJointAddAMotorTorques(get_id(), torque1, torque2, torque3); }
};
template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
class dLMotorJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
private:
// intentionally undefined, don't use these
dLMotorJointTemplate (const dLMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
void operator = (const dLMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
protected:
typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
dJointID get_id() const { return dBaseTemplate::get_id(); }
void set_id(dJointID value) { dBaseTemplate::set_id(value); }
void destroy() { dBaseTemplate::destroy(); }
public:
dLMotorJointTemplate() { }
dLMotorJointTemplate (dWorldID world, dJointGroupID group=0)
{ set_id(dJointCreateLMotor(world, group)); }
dLMotorJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ set_id(dJointCreateLMotor(world.id(), group)); }
void create (dWorldID world, dJointGroupID group=0) {
destroy();
set_id(dJointCreateLMotor(world, group));
}
void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
{ create(world.id(), group); }
void setNumAxes (int num)
{ dJointSetLMotorNumAxes (get_id(), num); }
int getNumAxes() const
{ return dJointGetLMotorNumAxes (get_id()); }
void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
{ dJointSetLMotorAxis (get_id(), anum, rel, x, y, z); }
void setAxis (int anum, int rel, const dVector3 a)
{ setAxis(anum, rel, a[0], a[1], a[2]); }
void getAxis (int anum, dVector3 result) const
{ dJointGetLMotorAxis (get_id(), anum, result); }
void setParam (int parameter, dReal value)
{ dJointSetLMotorParam (get_id(), parameter, value); }
dReal getParam (int parameter) const
{ return dJointGetLMotorParam (get_id(), parameter); }
// TODO: expose params through methods
};
//}
#if !defined(dODECPP_WORLD_TEMPLATE_BASE)
#if defined(dODECPP_BODY_TEMPLATE_BASE) || defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || defined(dODECPP_JOINT_TEMPLATE_BASE)
#error All the odecpp template bases must be defined or not defined together
#endif
#define dODECPP_WORLD_TEMPLATE_BASE dWorldDynamicIDContainer
#define dODECPP_BODY_TEMPLATE_BASE dBodyDynamicIDContainer
#define dODECPP_JOINTGROUP_TEMPLATE_BASE dJointGroupDynamicIDContainer
#define dODECPP_JOINT_TEMPLATE_BASE dJointDynamicIDContainer
#else // #if defined(dODECPP_WORLD_TEMPLATE_BASE)
#if !defined(dODECPP_BODY_TEMPLATE_BASE) || !defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || !defined(dODECPP_JOINT_TEMPLATE_BASE)
#error All the odecpp template bases must be defined or not defined together
#endif
#endif // #if defined(dODECPP_WORLD_TEMPLATE_BASE)
typedef dWorldTemplate<dODECPP_WORLD_TEMPLATE_BASE> dWorld;
typedef dBodyTemplate<dODECPP_BODY_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE> dBody;
typedef dJointGroupTemplate<dODECPP_JOINTGROUP_TEMPLATE_BASE> dJointGroup;
typedef dJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dJoint;
typedef dBallJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dBallJoint;
typedef dHingeJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dHingeJoint;
typedef dSliderJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dSliderJoint;
typedef dUniversalJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dUniversalJoint;
typedef dHinge2JointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dHinge2Joint;
typedef dPRJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPRJoint;
typedef dPUJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPUJoint;
typedef dPistonJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPistonJoint;
typedef dFixedJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dFixedJoint;
typedef dContactJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dContactJoint;
typedef dNullJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dNullJoint;
typedef dAMotorJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dAMotorJoint;
typedef dLMotorJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dLMotorJoint;
#endif
#endif
// Local variables:
// mode:c++
// c-basic-offset:2
// End:
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