Functions | |
ODE_API dJointID | dJointCreateBall (dWorldID, dJointGroupID) |
Create a new joint of the ball type. | |
ODE_API dJointID | dJointCreateHinge (dWorldID, dJointGroupID) |
Create a new joint of the hinge type. | |
ODE_API dJointID | dJointCreateSlider (dWorldID, dJointGroupID) |
Create a new joint of the slider type. | |
ODE_API dJointID | dJointCreateContact (dWorldID, dJointGroupID, const dContact *) |
Create a new joint of the contact type. | |
ODE_API dJointID | dJointCreateHinge2 (dWorldID, dJointGroupID) |
Create a new joint of the hinge2 type. | |
ODE_API dJointID | dJointCreateUniversal (dWorldID, dJointGroupID) |
Create a new joint of the universal type. | |
ODE_API dJointID | dJointCreatePR (dWorldID, dJointGroupID) |
Create a new joint of the PR (Prismatic and Rotoide) type. | |
ODE_API dJointID | dJointCreatePU (dWorldID, dJointGroupID) |
Create a new joint of the PU (Prismatic and Universal) type. | |
ODE_API dJointID | dJointCreatePiston (dWorldID, dJointGroupID) |
Create a new joint of the Piston type. | |
ODE_API dJointID | dJointCreateFixed (dWorldID, dJointGroupID) |
Create a new joint of the fixed type. | |
ODE_API dJointID | dJointCreateAMotor (dWorldID, dJointGroupID) |
Create a new joint of the A-motor type. | |
ODE_API dJointID | dJointCreateLMotor (dWorldID, dJointGroupID) |
Create a new joint of the L-motor type. | |
ODE_API dJointID | dJointCreatePlane2D (dWorldID, dJointGroupID) |
Create a new joint of the plane-2d type. | |
ODE_API void | dJointDestroy (dJointID) |
Destroy a joint.
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 dJointGroupID | dJointGroupCreate (int max_size) |
Create a joint group. | |
ODE_API void | dJointGroupDestroy (dJointGroupID) |
Destroy a joint group.
All joints in the joint group will be destroyed. | |
ODE_API void | dJointGroupEmpty (dJointGroupID) |
Empty a joint group.
All joints in the joint group will be destroyed, but the joint group itself will not be destroyed. | |
ODE_API int | dJointGetNumBodies (dJointID) |
Return the number of bodies attached to the joint. | |
ODE_API void | dJointAttach (dJointID, dBodyID body1, dBodyID body2) |
Attach the joint to some new bodies.
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. | |
ODE_API void | dJointEnable (dJointID) |
Manually enable a joint. | |
ODE_API void | dJointDisable (dJointID) |
Manually disable a joint. | |
ODE_API int | dJointIsEnabled (dJointID) |
Check wether a joint is enabled. | |
ODE_API void | dJointSetData (dJointID, void *data) |
Set the user-data pointer. | |
ODE_API void * | dJointGetData (dJointID) |
Get the user-data pointer. | |
ODE_API dJointType | dJointGetType (dJointID) |
Get the type of the joint. | |
ODE_API dBodyID | dJointGetBody (dJointID, int index) |
Return the bodies that this joint connects. | |
ODE_API void | dJointSetFeedback (dJointID, dJointFeedback *) |
Sets the datastructure that is to receive the feedback. | |
ODE_API dJointFeedback * | dJointGetFeedback (dJointID) |
Gets the datastructure that is to receive the feedback. | |
ODE_API void | dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z) |
Set the joint anchor point.
The joint will try to keep this point on each body together. The input is specified in world coordinates. | |
ODE_API void | dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z) |
Set the joint anchor point. | |
ODE_API void | dJointSetBallParam (dJointID, int parameter, dReal value) |
Param setting for Ball joints. | |
ODE_API void | dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z) |
Set hinge anchor parameter. | |
ODE_API void | dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z) |
Set hinge axis. | |
ODE_API void | dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle) |
Set the Hinge axis as if the 2 bodies were already at angle appart.
This function initialize the Axis and the relative orientation of each body as if body1 was rotated around the axis by the angle value. Ex:. | |
ODE_API void | dJointSetHingeParam (dJointID, int parameter, dReal value) |
set joint parameter | |
ODE_API void | dJointAddHingeTorque (dJointID joint, dReal torque) |
Applies the torque about the hinge axis. | |
ODE_API void | dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z) |
set the joint axis | |
ODE_API void | dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az) |
ODE_API void | dJointSetSliderParam (dJointID, int parameter, dReal value) |
set joint parameter | |
ODE_API void | dJointAddSliderForce (dJointID joint, dReal force) |
Applies the given force in the slider's direction. | |
ODE_API void | dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z) |
set anchor | |
ODE_API void | dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z) |
set axis | |
ODE_API void | dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z) |
set axis | |
ODE_API void | dJointSetHinge2Param (dJointID, int parameter, dReal value) |
set joint parameter | |
ODE_API void | dJointAddHinge2Torques (dJointID joint, dReal torque1, dReal torque2) |
Applies torque1 about the hinge2's axis 1, torque2 about the hinge2's axis 2. | |
ODE_API void | dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z) |
set anchor | |
ODE_API void | dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z) |
set axis | |
ODE_API void | dJointSetUniversalAxis1Offset (dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2) |
Set the Universal axis1 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.
This function initialize the axis1 and the relative orientation of each body as if body1 was rotated around the new axis1 by the offset1 value and as if body2 was rotated around the axis2 by offset2. Ex:. | |
ODE_API void | dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z) |
set axis | |
ODE_API void | dJointSetUniversalAxis2Offset (dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2) |
Set the Universal axis2 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.
This function initialize the axis2 and the relative orientation of each body as if body1 was rotated around the axis1 by the offset1 value and as if body2 was rotated around the new axis2 by offset2. Ex:. | |
ODE_API void | dJointSetUniversalParam (dJointID, int parameter, dReal value) |
set joint parameter | |
ODE_API void | dJointAddUniversalTorques (dJointID joint, dReal torque1, dReal torque2) |
Applies torque1 about the universal's axis 1, torque2 about the universal's axis 2. | |
ODE_API void | dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z) |
set anchor | |
ODE_API void | dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z) |
set the axis for the prismatic articulation | |
ODE_API void | dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z) |
set the axis for the rotoide articulation | |
ODE_API void | dJointSetPRParam (dJointID, int parameter, dReal value) |
set joint parameter | |
ODE_API void | dJointAddPRTorque (dJointID j, dReal torque) |
Applies the torque about the rotoide axis of the PR joint. | |
ODE_API void | dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z) |
set anchor | |
ODE_API_DEPRECATED ODE_API void | dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz) |
set anchor | |
ODE_API void | dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz) |
Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart.
This function initialize the anchor and the relative position of each body as if the position between body1 and body2 was already the projection of [dx, dy, dz] along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the axis is set). Ex:. | |
ODE_API void | dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z) |
set the axis for the first axis or the universal articulation | |
ODE_API void | dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z) |
set the axis for the second axis or the universal articulation | |
ODE_API void | dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z) |
set the axis for the prismatic articulation | |
ODE_API void | dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z) |
set the axis for the prismatic articulation | |
ODE_API void | dJointSetPUParam (dJointID, int parameter, dReal value) |
set joint parameter | |
ODE_API void | dJointAddPUTorque (dJointID j, dReal torque) |
Applies the torque about the rotoide axis of the PU joint. | |
ODE_API void | dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z) |
set the joint anchor | |
ODE_API void | dJointSetPistonAnchorOffset (dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz) |
Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart.
This function initialize the anchor and the relative position of each body as if the position between body1 and body2 was already the projection of [dx, dy, dz] along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the axis is set). Ex:. | |
ODE_API void | dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z) |
set the joint axis | |
ODE_API_DEPRECATED ODE_API void | dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az) |
ODE_API void | dJointSetPistonParam (dJointID, int parameter, dReal value) |
set joint parameter | |
ODE_API void | dJointAddPistonForce (dJointID joint, dReal force) |
Applies the given force in the slider's direction. | |
ODE_API void | dJointSetFixed (dJointID) |
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. | |
ODE_API void | dJointSetAMotorNumAxes (dJointID, int num) |
set the nr of axes | |
ODE_API void | dJointSetAMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z) |
set axis | |
ODE_API void | dJointSetAMotorAngle (dJointID, int anum, dReal angle) |
Tell the AMotor what the current angle is along axis anum. | |
ODE_API void | dJointSetAMotorParam (dJointID, int parameter, dReal value) |
set joint parameter | |
ODE_API void | dJointSetAMotorMode (dJointID, int mode) |
set mode | |
ODE_API void | dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3) |
Applies torque0 about the AMotor's axis 0, torque1 about the AMotor's axis 1, and torque2 about the AMotor's axis 2. | |
ODE_API void | dJointSetLMotorNumAxes (dJointID, int num) |
Set the number of axes that will be controlled by the LMotor. | |
ODE_API void | dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z) |
Set the AMotor axes. | |
ODE_API void | dJointSetLMotorParam (dJointID, int parameter, dReal value) |
set joint parameter | |
ODE_API void | dJointSetPlane2DXParam (dJointID, int parameter, dReal value) |
ODE_API void | dJointSetPlane2DYParam (dJointID, int parameter, dReal value) |
ODE_API void | dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value) |
ODE_API dReal | dJointGetBallParam (dJointID, int parameter) |
get joint parameter | |
ODE_API void | dJointGetHingeAnchor (dJointID, dVector3 result) |
Get the hinge anchor point, in world coordinates. | |
ODE_API void | dJointGetHingeAnchor2 (dJointID, dVector3 result) |
Get the joint anchor point, in world coordinates. | |
ODE_API void | dJointGetHingeAxis (dJointID, dVector3 result) |
get axis | |
ODE_API dReal | dJointGetHingeParam (dJointID, int parameter) |
get joint parameter | |
ODE_API dReal | dJointGetHingeAngle (dJointID) |
Get the hinge angle. | |
ODE_API dReal | dJointGetHingeAngleRate (dJointID) |
Get the hinge angle time derivative. | |
ODE_API dReal | dJointGetSliderPosition (dJointID) |
Get the slider linear position (i.e. the slider's extension). | |
ODE_API dReal | dJointGetSliderPositionRate (dJointID) |
Get the slider linear position's time derivative. | |
ODE_API void | dJointGetSliderAxis (dJointID, dVector3 result) |
Get the slider axis. | |
ODE_API dReal | dJointGetSliderParam (dJointID, int parameter) |
get joint parameter | |
ODE_API void | dJointGetHinge2Anchor (dJointID, dVector3 result) |
Get the joint anchor point, in world coordinates. | |
ODE_API void | dJointGetHinge2Anchor2 (dJointID, dVector3 result) |
Get the joint anchor point, in world coordinates. This returns the point on body 2. If the joint is perfectly satisfied, this will return the same value as dJointGetHinge2Anchor. If not, this value will be slightly different. This can be used, for example, to see how far the joint has come apart. | |
ODE_API void | dJointGetHinge2Axis1 (dJointID, dVector3 result) |
Get joint axis. | |
ODE_API void | dJointGetHinge2Axis2 (dJointID, dVector3 result) |
Get joint axis. | |
ODE_API dReal | dJointGetHinge2Param (dJointID, int parameter) |
get joint parameter | |
ODE_API dReal | dJointGetHinge2Angle1 (dJointID) |
Get angle. | |
ODE_API dReal | dJointGetHinge2Angle1Rate (dJointID) |
Get time derivative of angle. | |
ODE_API dReal | dJointGetHinge2Angle2Rate (dJointID) |
Get time derivative of angle. | |
ODE_API void | dJointGetUniversalAnchor (dJointID, dVector3 result) |
Get the joint anchor point, in world coordinates. | |
ODE_API void | dJointGetUniversalAnchor2 (dJointID, dVector3 result) |
Get the joint anchor point, in world coordinates. | |
ODE_API void | dJointGetUniversalAxis1 (dJointID, dVector3 result) |
Get axis. | |
ODE_API void | dJointGetUniversalAxis2 (dJointID, dVector3 result) |
Get axis. | |
ODE_API dReal | dJointGetUniversalParam (dJointID, int parameter) |
get joint parameter | |
ODE_API void | dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2) |
Get both angles at the same time. | |
ODE_API dReal | dJointGetUniversalAngle1 (dJointID) |
Get angle. | |
ODE_API dReal | dJointGetUniversalAngle2 (dJointID) |
Get angle. | |
ODE_API dReal | dJointGetUniversalAngle1Rate (dJointID) |
Get time derivative of angle. | |
ODE_API dReal | dJointGetUniversalAngle2Rate (dJointID) |
Get time derivative of angle. | |
ODE_API void | dJointGetPRAnchor (dJointID, dVector3 result) |
Get the joint anchor point, in world coordinates. | |
ODE_API dReal | dJointGetPRPosition (dJointID) |
Get the PR linear position (i.e. the prismatic's extension). | |
ODE_API dReal | dJointGetPRPositionRate (dJointID) |
Get the PR linear position's time derivative. | |
ODE_API dReal | dJointGetPRAngle (dJointID) |
Get the PR angular position (i.e. the twist between the 2 bodies). | |
ODE_API dReal | dJointGetPRAngleRate (dJointID) |
Get the PR angular position's time derivative. | |
ODE_API void | dJointGetPRAxis1 (dJointID, dVector3 result) |
Get the prismatic axis. | |
ODE_API void | dJointGetPRAxis2 (dJointID, dVector3 result) |
Get the Rotoide axis. | |
ODE_API dReal | dJointGetPRParam (dJointID, int parameter) |
get joint parameter | |
ODE_API void | dJointGetPUAnchor (dJointID, dVector3 result) |
Get the joint anchor point, in world coordinates. | |
ODE_API dReal | dJointGetPUPosition (dJointID) |
Get the PU linear position (i.e. the prismatic's extension). | |
ODE_API dReal | dJointGetPUPositionRate (dJointID) |
Get the PR linear position's time derivative. | |
ODE_API void | dJointGetPUAxis1 (dJointID, dVector3 result) |
Get the first axis of the universal component of the joint. | |
ODE_API void | dJointGetPUAxis2 (dJointID, dVector3 result) |
Get the second axis of the Universal component of the joint. | |
ODE_API void | dJointGetPUAxis3 (dJointID, dVector3 result) |
Get the prismatic axis. | |
ODE_API void | dJointGetPUAxisP (dJointID id, dVector3 result) |
Get the prismatic axis. | |
ODE_API void | dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2) |
Get both angles at the same time. | |
ODE_API dReal | dJointGetPUAngle1 (dJointID) |
Get angle. | |
ODE_API dReal | dJointGetPUAngle1Rate (dJointID) |
* | |
ODE_API dReal | dJointGetPUAngle2 (dJointID) |
Get angle. | |
ODE_API dReal | dJointGetPUAngle2Rate (dJointID) |
* | |
ODE_API dReal | dJointGetPUParam (dJointID, int parameter) |
get joint parameter | |
ODE_API dReal | dJointGetPistonPosition (dJointID) |
Get the Piston linear position (i.e. the piston's extension). | |
ODE_API dReal | dJointGetPistonPositionRate (dJointID) |
Get the piston linear position's time derivative. | |
ODE_API dReal | dJointGetPistonAngle (dJointID) |
Get the Piston angular position (i.e. the twist between the 2 bodies). | |
ODE_API dReal | dJointGetPistonAngleRate (dJointID) |
Get the piston angular position's time derivative. | |
ODE_API void | dJointGetPistonAnchor (dJointID, dVector3 result) |
Get the joint anchor. | |
ODE_API void | dJointGetPistonAnchor2 (dJointID, dVector3 result) |
Get the joint anchor w.r.t. body 2. | |
ODE_API void | dJointGetPistonAxis (dJointID, dVector3 result) |
Get the prismatic axis (This is also the rotoide axis. | |
ODE_API dReal | dJointGetPistonParam (dJointID, int parameter) |
get joint parameter | |
ODE_API int | dJointGetAMotorNumAxes (dJointID) |
Get the number of angular axes that will be controlled by the AMotor. | |
ODE_API void | dJointGetAMotorAxis (dJointID, int anum, dVector3 result) |
Get the AMotor axes. | |
ODE_API int | dJointGetAMotorAxisRel (dJointID, int anum) |
Get axis. | |
ODE_API dReal | dJointGetAMotorAngle (dJointID, int anum) |
Get the current angle for axis. | |
ODE_API dReal | dJointGetAMotorAngleRate (dJointID, int anum) |
Get the current angle rate for axis anum. | |
ODE_API dReal | dJointGetAMotorParam (dJointID, int parameter) |
get joint parameter | |
ODE_API int | dJointGetAMotorMode (dJointID) |
Get the angular motor mode. | |
ODE_API int | dJointGetLMotorNumAxes (dJointID) |
Get nr of axes. | |
ODE_API void | dJointGetLMotorAxis (dJointID, int anum, dVector3 result) |
Get axis. | |
ODE_API dReal | dJointGetLMotorParam (dJointID, int parameter) |
get joint parameter | |
ODE_API dReal | dJointGetFixedParam (dJointID, int parameter) |
get joint parameter | |
ODE_API dJointID | dConnectingJoint (dBodyID, dBodyID) |
ODE_API int | dConnectingJointList (dBodyID, dBodyID, dJointID *) |
ODE_API int | dAreConnected (dBodyID, dBodyID) |
Utility function. | |
ODE_API int | dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type) |
Utility function. |
A joint has a set of parameters that can be set. These include:
ODE_API int dAreConnected | ( | dBodyID | , | |
dBodyID | ||||
) |
Utility function.
ODE_API int dAreConnectedExcluding | ( | dBodyID | body1, | |
dBodyID | body2, | |||
int | joint_type | |||
) |
Utility function.
body1 | A body to check. | |
body2 | A body to check. | |
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. |
ODE_API void dJointAddAMotorTorques | ( | dJointID | , | |
dReal | torque1, | |||
dReal | torque2, | |||
dReal | torque3 | |||
) |
Applies torque0 about the AMotor's axis 0, torque1 about the AMotor's axis 1, and torque2 about the AMotor's axis 2.
ODE_API void dJointAddHinge2Torques | ( | dJointID | joint, | |
dReal | torque1, | |||
dReal | torque2 | |||
) |
Applies torque1 about the hinge2's axis 1, torque2 about the hinge2's axis 2.
ODE_API void dJointAddHingeTorque | ( | dJointID | joint, | |
dReal | torque | |||
) |
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()}
ODE_API void dJointAddPistonForce | ( | dJointID | joint, | |
dReal | force | |||
) |
Applies the given force in the slider's direction.
That is, it applies a force with specified magnitude, in the direction of prismatic's axis, to body1, and with the same magnitude but opposite direction to body2. This function is just a wrapper for dBodyAddForce().
ODE_API void dJointAddPRTorque | ( | dJointID | j, | |
dReal | torque | |||
) |
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()}
ODE_API void dJointAddPUTorque | ( | dJointID | j, | |
dReal | torque | |||
) |
Applies the torque about the rotoide axis of the PU joint.
That is, it applies a torque with specified magnitude in the direction of the rotoide axis, to body 1, and with the same magnitude but in opposite direction to body 2. This function is just a wrapper for dBodyAddTorque()}
ODE_API void dJointAddSliderForce | ( | dJointID | joint, | |
dReal | force | |||
) |
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().
ODE_API void dJointAddUniversalTorques | ( | dJointID | joint, | |
dReal | torque1, | |||
dReal | torque2 | |||
) |
Applies torque1 about the universal's axis 1, torque2 about the universal's axis 2.
ODE_API void dJointAttach | ( | dJointID | , | |
dBodyID | body1, | |||
dBodyID | body2 | |||
) |
Attach the joint to some new bodies.
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.
ODE_API dJointID dJointCreateAMotor | ( | dWorldID | , | |
dJointGroupID | ||||
) |
Create a new joint of the A-motor type.
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 | ||||
) |
Create a new joint of the ball type.
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 * | ||||
) |
Create a new joint of the contact type.
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 | ||||
) |
Create a new joint of the fixed type.
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 | ||||
) |
Create a new joint of the hinge type.
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 | ||||
) |
Create a new joint of the hinge2 type.
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 | ||||
) |
Create a new joint of the L-motor type.
dJointGroupID | set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group. |
ODE_API dJointID dJointCreatePiston | ( | dWorldID | , | |
dJointGroupID | ||||
) |
Create a new joint of the Piston type.
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 | ||||
) |
Create a new joint of the plane-2d type.
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 | ||||
) |
Create a new joint of the PR (Prismatic and Rotoide) type.
dJointGroupID | set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group. |
ODE_API dJointID dJointCreatePU | ( | dWorldID | , | |
dJointGroupID | ||||
) |
Create a new joint of the PU (Prismatic and Universal) type.
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 | ||||
) |
Create a new joint of the slider type.
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 | ||||
) |
Create a new joint of the universal type.
dJointGroupID | set to 0 to allocate the joint normally. If it is nonzero the joint is allocated in the given joint group. |
ODE_API void dJointDisable | ( | dJointID | ) |
Manually disable a joint.
ODE_API void dJointEnable | ( | dJointID | ) |
Manually enable a joint.
dJointID | identification of joint. |
ODE_API dReal dJointGetAMotorAngle | ( | dJointID | , | |
int | anum | |||
) |
Get the current angle for axis.
ODE_API dReal dJointGetAMotorAngleRate | ( | dJointID | , | |
int | anum | |||
) |
Get the current angle rate for axis anum.
ODE_API void dJointGetAMotorAxis | ( | dJointID | , | |
int | anum, | |||
dVector3 | result | |||
) |
Get the AMotor axes.
anum | selects the axis to change (0,1 or 2). | |
rel | Each axis can have one of three ``relative orientation'' modes.
|
ODE_API int dJointGetAMotorAxisRel | ( | dJointID | , | |
int | anum | |||
) |
Get axis.
ODE_API int dJointGetAMotorMode | ( | dJointID | ) |
Get the angular motor mode.
mode | must be one of the following constants:
|
ODE_API int dJointGetAMotorNumAxes | ( | dJointID | ) |
Get the number of angular axes that will be controlled by the AMotor.
num | can range from 0 (which effectively deactivates the joint) to 3. This is automatically set to 3 in dAMotorEuler mode. |
ODE_API dBodyID dJointGetBody | ( | dJointID | , | |
int | index | |||
) |
Return the bodies that this joint connects.
index | return the first (0) or second (1) body. |
ODE_API void dJointGetHinge2Anchor | ( | dJointID | , | |
dVector3 | result | |||
) |
Get the joint anchor point, in world coordinates.
ODE_API void dJointGetHingeAnchor | ( | dJointID | , | |
dVector3 | result | |||
) |
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.
ODE_API void dJointGetHingeAnchor2 | ( | dJointID | , | |
dVector3 | result | |||
) |
Get the joint anchor point, in world coordinates.
ODE_API dReal dJointGetHingeAngle | ( | dJointID | ) |
Get the hinge angle.
The angle is measured between the two bodies, or between the body and the static environment. The angle will be between -pi..pi. Give the relative rotation with respect to the Hinge axis of Body 1 with respect to Body 2. When the hinge anchor or axis is set, the current position of the attached bodies is examined and that position will be the zero angle.
ODE_API void dJointGetPistonAnchor | ( | dJointID | , | |
dVector3 | result | |||
) |
Get the joint anchor.
This returns the point on body 1. If the joint is perfectly satisfied, this will be the same as the point on body 2 in direction perpendicular to the prismatic axis.
ODE_API void dJointGetPistonAnchor2 | ( | dJointID | , | |
dVector3 | result | |||
) |
Get the joint anchor w.r.t. body 2.
This returns the point on body 2. You can think of a Piston joint as trying to keep the result of dJointGetPistonAnchor() and dJointGetPistonAnchor2() the same in the direction perpendicular to the pirsmatic axis. If the joint is perfectly satisfied, this function will return the same value as dJointGetPistonAnchor() to within roundoff errors. dJointGetPistonAnchor2() can be used, along with dJointGetPistonAnchor(), to see how far the joint has come apart.
ODE_API dReal dJointGetPistonAngle | ( | dJointID | ) |
Get the Piston angular position (i.e. the twist between the 2 bodies).
When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.
ODE_API dReal dJointGetPistonPosition | ( | dJointID | ) |
Get the Piston linear position (i.e. the piston's extension).
When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.
ODE_API void dJointGetPRAnchor | ( | dJointID | , | |
dVector3 | result | |||
) |
Get the joint anchor point, in world coordinates.
ODE_API dReal dJointGetPRAngle | ( | dJointID | ) |
Get the PR angular position (i.e. the twist between the 2 bodies).
When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.
ODE_API dReal dJointGetPRPosition | ( | dJointID | ) |
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)]
ODE_API void dJointGetPUAnchor | ( | dJointID | , | |
dVector3 | result | |||
) |
Get the joint anchor point, in world coordinates.
ODE_API dReal dJointGetPUAngle1Rate | ( | dJointID | ) |
*
Get time derivative of angle1
ODE_API dReal dJointGetPUAngle2Rate | ( | dJointID | ) |
*
Get time derivative of angle2
ODE_API void dJointGetPUAngles | ( | dJointID | , | |
dReal * | angle1, | |||
dReal * | angle2 | |||
) |
Get both angles at the same time.
joint | The Prismatic universal joint for which we want to calculate the angles | |
angle1 | The angle between the body1 and the axis 1 | |
angle2 | The angle between the body2 and the axis 2 |
ODE_API void dJointGetPUAxisP | ( | dJointID | id, | |
dVector3 | result | |||
) |
Get the prismatic axis.
ODE_API dReal dJointGetPUPosition | ( | dJointID | ) |
Get the PU linear position (i.e. the prismatic's extension).
When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.
The position is the "oriented" length between the position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)]
ODE_API dReal dJointGetSliderPosition | ( | dJointID | ) |
Get the slider linear position (i.e. the slider's extension).
When the axis is set, the current position of the attached bodies is examined and that position will be the zero position.
The position is the distance, with respect to the zero position, along the slider axis of body 1 with respect to body 2. (A NULL body is replaced by the world).
ODE_API dJointType dJointGetType | ( | dJointID | ) |
Get the type of the joint.
ODE_API void dJointGetUniversalAnchor | ( | dJointID | , | |
dVector3 | result | |||
) |
Get the joint anchor point, in world coordinates.
ODE_API void dJointGetUniversalAnchor2 | ( | dJointID | , | |
dVector3 | result | |||
) |
Get the joint anchor point, in world coordinates.
ODE_API void dJointGetUniversalAngles | ( | dJointID | , | |
dReal * | angle1, | |||
dReal * | angle2 | |||
) |
Get both angles at the same time.
joint | The universal joint for which we want to calculate the angles | |
angle1 | The angle between the body1 and the axis 1 | |
angle2 | The angle between the body2 and the axis 2 |
ODE_API dJointGroupID dJointGroupCreate | ( | int | max_size | ) |
Create a joint group.
max_size | deprecated. Set to 0. |
ODE_API int dJointIsEnabled | ( | dJointID | ) |
Check wether a joint is enabled.
ODE_API void dJointSetAMotorAngle | ( | dJointID | , | |
int | anum, | |||
dReal | angle | |||
) |
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.
ODE_API void dJointSetAMotorNumAxes | ( | dJointID | , | |
int | num | |||
) |
set the nr of axes
num | 0..3 |
ODE_API void dJointSetFeedback | ( | dJointID | , | |
dJointFeedback * | ||||
) |
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.
ODE_API void dJointSetHingeAxisOffset | ( | dJointID | j, | |
dReal | x, | |||
dReal | y, | |||
dReal | z, | |||
dReal | angle | |||
) |
Set the Hinge axis as if the 2 bodies were already at angle appart.
This function initialize the Axis and the relative orientation of each body as if body1 was rotated around the axis by the angle value. Ex:.
dJointSetHingeAxis(jId, 1, 0, 0); // If you request the position you will have: dJointGetHingeAngle(jId) == 0 dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23); // If you request the position you will have: dJointGetHingeAngle(jId) == 0.23
j | The Hinge joint ID for which the axis will be set | |
x | The X component of the axis in world frame | |
y | The Y component of the axis in world frame | |
z | The Z component of the axis in world frame | |
angle | The angle for the offset of the relative orientation. As if body1 was rotated by angle when the Axis was set (see below). The rotation is around the new Hinge axis. |
ODE_API void dJointSetLMotorAxis | ( | dJointID | , | |
int | anum, | |||
int | rel, | |||
dReal | x, | |||
dReal | y, | |||
dReal | z | |||
) |
Set the AMotor axes.
anum | selects the axis to change (0,1 or 2). | |
rel | Each axis can have one of three ``relative orientation'' modes
|
ODE_API void dJointSetLMotorNumAxes | ( | dJointID | , | |
int | num | |||
) |
Set the number of axes that will be controlled by the LMotor.
num | can range from 0 (which effectively deactivates the joint) to 3. |
ODE_API void dJointSetPistonAnchorOffset | ( | dJointID | j, | |
dReal | x, | |||
dReal | y, | |||
dReal | z, | |||
dReal | dx, | |||
dReal | dy, | |||
dReal | dz | |||
) |
Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart.
This function initialize the anchor and the relative position of each body as if the position between body1 and body2 was already the projection of [dx, dy, dz] along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the axis is set). Ex:.
dReal offset = 3; dVector3 axis; dJointGetPistonAxis(jId, axis); dJointSetPistonAnchor(jId, 0, 0, 0); // If you request the position you will have: dJointGetPistonPosition(jId) == 0 dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset); // If you request the position you will have: dJointGetPistonPosition(jId) == offset
j | The Piston joint for which the anchor point will be set | |
x | The X position of the anchor point in world frame | |
y | The Y position of the anchor point in world frame | |
z | The Z position of the anchor point in world frame | |
dx | A delta to be substracted to the X position as if the anchor was set when body1 was at current_position[X] - dx | |
dx | A delta to be substracted to the Y position as if the anchor was set when body1 was at current_position[Y] - dy | |
dx | A delta to be substracted to the Z position as if the anchor was set when body1 was at current_position[Z] - dz |
ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta | ( | dJointID | j, | |
dReal | x, | |||
dReal | y, | |||
dReal | z, | |||
dReal | ax, | |||
dReal | ay, | |||
dReal | az | |||
) |
This function set prismatic axis of the joint and also set the position of the joint.
j | The joint affected by this function | |
x | The x component of the axis | |
y | The y component of the axis | |
z | The z component of the axis | |
dx | The Initial position of the prismatic join in the x direction | |
dy | The Initial position of the prismatic join in the y direction | |
dz | The Initial position of the prismatic join in the z direction |
ODE_API void dJointSetPRParam | ( | dJointID | , | |
int | parameter, | |||
dReal | value | |||
) |
set joint parameter
ODE_API void dJointSetPUAnchorOffset | ( | dJointID | , | |
dReal | x, | |||
dReal | y, | |||
dReal | z, | |||
dReal | dx, | |||
dReal | dy, | |||
dReal | dz | |||
) |
Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart.
This function initialize the anchor and the relative position of each body as if the position between body1 and body2 was already the projection of [dx, dy, dz] along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the axis is set). Ex:.
dReal offset = 3; dVector3 axis; dJointGetPUAxis(jId, axis); dJointSetPUAnchor(jId, 0, 0, 0); // If you request the position you will have: dJointGetPUPosition(jId) == 0 dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset); // If you request the position you will have: dJointGetPUPosition(jId) == offset
j | The PU joint for which the anchor point will be set | |
x | The X position of the anchor point in world frame | |
y | The Y position of the anchor point in world frame | |
z | The Z position of the anchor point in world frame | |
dx | A delta to be substracted to the X position as if the anchor was set when body1 was at current_position[X] - dx | |
dx | A delta to be substracted to the Y position as if the anchor was set when body1 was at current_position[Y] - dy | |
dx | A delta to be substracted to the Z position as if the anchor was set when body1 was at current_position[Z] - dz |
ODE_API void dJointSetPUAxisP | ( | dJointID | id, | |
dReal | x, | |||
dReal | y, | |||
dReal | z | |||
) |
set the axis for the prismatic articulation
ODE_API void dJointSetPUParam | ( | dJointID | , | |
int | parameter, | |||
dReal | value | |||
) |
set joint parameter
parameterX where X equal 3 refer to parameter for prismatic articulation
ODE_API void dJointSetUniversalAxis1Offset | ( | dJointID | , | |
dReal | x, | |||
dReal | y, | |||
dReal | z, | |||
dReal | offset1, | |||
dReal | offset2 | |||
) |
Set the Universal axis1 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.
This function initialize the axis1 and the relative orientation of each body as if body1 was rotated around the new axis1 by the offset1 value and as if body2 was rotated around the axis2 by offset2. Ex:.
dJointSetHuniversalAxis1(jId, 1, 0, 0); // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0 // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0 dJointSetHuniversalAxis1Offset(jId, 1, 0, 0, 0.2, 0.17); // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2 // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
j | The Hinge joint ID for which the axis will be set | |
x | The X component of the axis in world frame | |
y | The Y component of the axis in world frame | |
z | The Z component of the axis in world frame | |
angle | The angle for the offset of the relative orientation. As if body1 was rotated by angle when the Axis was set (see below). The rotation is around the new Hinge axis. |
Any previous offsets are erased.
ODE_API void dJointSetUniversalAxis2Offset | ( | dJointID | , | |
dReal | x, | |||
dReal | y, | |||
dReal | z, | |||
dReal | offset1, | |||
dReal | offset2 | |||
) |
Set the Universal axis2 as if the 2 bodies were already at offset1 and offset2 appart with respect to axis1 and axis2.
This function initialize the axis2 and the relative orientation of each body as if body1 was rotated around the axis1 by the offset1 value and as if body2 was rotated around the new axis2 by offset2. Ex:.
dJointSetHuniversalAxis2(jId, 0, 1, 0); // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0 // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0 dJointSetHuniversalAxis2Offset(jId, 0, 1, 0, 0.2, 0.17); // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2 // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
j | The Hinge joint ID for which the axis will be set | |
x | The X component of the axis in world frame | |
y | The Y component of the axis in world frame | |
z | The Z component of the axis in world frame | |
angle | The angle for the offset of the relative orientation. As if body1 was rotated by angle when the Axis was set (see below). The rotation is around the new Hinge axis. |
Any previous offsets are erased.