[692] | 1 | /*************************************************************************
|
---|
| 2 | * *
|
---|
| 3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
|
---|
| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org *
|
---|
| 5 | * *
|
---|
| 6 | * This library is free software; you can redistribute it and/or *
|
---|
| 7 | * modify it under the terms of EITHER: *
|
---|
| 8 | * (1) The GNU Lesser General Public License as published by the Free *
|
---|
| 9 | * Software Foundation; either version 2.1 of the License, or (at *
|
---|
| 10 | * your option) any later version. The text of the GNU Lesser *
|
---|
| 11 | * General Public License is included with this library in the *
|
---|
| 12 | * file LICENSE.TXT. *
|
---|
| 13 | * (2) The BSD-style license that is included with this library in *
|
---|
| 14 | * the file LICENSE-BSD.TXT. *
|
---|
| 15 | * *
|
---|
| 16 | * This library is distributed in the hope that it will be useful, *
|
---|
| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
---|
| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
|
---|
| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
|
---|
| 20 | * *
|
---|
| 21 | *************************************************************************/
|
---|
| 22 |
|
---|
| 23 | /* this is the old C++ interface, the new C++ interface is not quite
|
---|
| 24 | * compatible with this. but this file is kept around in case you were
|
---|
| 25 | * using the old interface.
|
---|
| 26 | */
|
---|
| 27 |
|
---|
| 28 | #ifndef _ODE_ODECPP_H_
|
---|
| 29 | #define _ODE_ODECPP_H_
|
---|
| 30 | #ifdef __cplusplus
|
---|
| 31 |
|
---|
| 32 | #include <ode/error.h>
|
---|
| 33 |
|
---|
| 34 |
|
---|
| 35 | class dWorld {
|
---|
| 36 | dWorldID _id;
|
---|
| 37 |
|
---|
| 38 | dWorld (dWorld &) { dDebug (0,"bad"); }
|
---|
| 39 | void operator= (dWorld &) { dDebug (0,"bad"); }
|
---|
| 40 |
|
---|
| 41 | public:
|
---|
| 42 | dWorld()
|
---|
| 43 | { _id = dWorldCreate(); }
|
---|
| 44 | ~dWorld()
|
---|
| 45 | { dWorldDestroy (_id); }
|
---|
| 46 | dWorldID id()
|
---|
| 47 | { return _id; }
|
---|
| 48 |
|
---|
| 49 | void setGravity (dReal x, dReal y, dReal z)
|
---|
| 50 | { dWorldSetGravity (_id,x,y,z); }
|
---|
| 51 | void getGravity (dVector3 g)
|
---|
| 52 | { dWorldGetGravity (_id,g); }
|
---|
| 53 | void step (dReal stepsize)
|
---|
| 54 | { dWorldStep (_id,stepsize); }
|
---|
| 55 | };
|
---|
| 56 |
|
---|
| 57 |
|
---|
| 58 | class dBody {
|
---|
| 59 | dBodyID _id;
|
---|
| 60 |
|
---|
| 61 | dBody (dBody &) { dDebug (0,"bad"); }
|
---|
| 62 | void operator= (dBody &) { dDebug (0,"bad"); }
|
---|
| 63 |
|
---|
| 64 | public:
|
---|
| 65 | dBody()
|
---|
| 66 | { _id = 0; }
|
---|
| 67 | dBody (dWorld &world)
|
---|
| 68 | { _id = dBodyCreate (world.id()); }
|
---|
| 69 | ~dBody()
|
---|
| 70 | { dBodyDestroy (_id); }
|
---|
| 71 | void create (dWorld &world)
|
---|
| 72 | { if (_id) dBodyDestroy (_id); _id = dBodyCreate (world.id()); }
|
---|
| 73 | dBodyID id()
|
---|
| 74 | { return _id; }
|
---|
| 75 |
|
---|
| 76 | void setData (void *data)
|
---|
| 77 | { dBodySetData (_id,data); }
|
---|
| 78 | void *getData()
|
---|
| 79 | { return dBodyGetData (_id); }
|
---|
| 80 |
|
---|
| 81 | void setPosition (dReal x, dReal y, dReal z)
|
---|
| 82 | { dBodySetPosition (_id,x,y,z); }
|
---|
| 83 | void setRotation (const dMatrix3 R)
|
---|
| 84 | { dBodySetRotation (_id,R); }
|
---|
| 85 | void setQuaternion (const dQuaternion q)
|
---|
| 86 | { dBodySetQuaternion (_id,q); }
|
---|
| 87 | void setLinearVel (dReal x, dReal y, dReal z)
|
---|
| 88 | { dBodySetLinearVel (_id,x,y,z); }
|
---|
| 89 | void setAngularVel (dReal x, dReal y, dReal z)
|
---|
| 90 | { dBodySetAngularVel (_id,x,y,z); }
|
---|
| 91 |
|
---|
| 92 | const dReal * getPosition()
|
---|
| 93 | { return dBodyGetPosition (_id); }
|
---|
| 94 | const dReal * getRotation()
|
---|
| 95 | { return dBodyGetRotation (_id); }
|
---|
| 96 | const dReal * getQuaternion()
|
---|
| 97 | { return dBodyGetQuaternion (_id); }
|
---|
| 98 | const dReal * getLinearVel()
|
---|
| 99 | { return dBodyGetLinearVel (_id); }
|
---|
| 100 | const dReal * getAngularVel()
|
---|
| 101 | { return dBodyGetAngularVel (_id); }
|
---|
| 102 |
|
---|
| 103 | void setMass (const dMass *mass)
|
---|
| 104 | { dBodySetMass (_id,mass); }
|
---|
| 105 | void getMass (dMass *mass)
|
---|
| 106 | { dBodyGetMass (_id,mass); }
|
---|
| 107 |
|
---|
| 108 | void addForce (dReal fx, dReal fy, dReal fz)
|
---|
| 109 | { dBodyAddForce (_id, fx, fy, fz); }
|
---|
| 110 | void addTorque (dReal fx, dReal fy, dReal fz)
|
---|
| 111 | { dBodyAddTorque (_id, fx, fy, fz); }
|
---|
| 112 | void addRelForce (dReal fx, dReal fy, dReal fz)
|
---|
| 113 | { dBodyAddRelForce (_id, fx, fy, fz); }
|
---|
| 114 | void addRelTorque (dReal fx, dReal fy, dReal fz)
|
---|
| 115 | { dBodyAddRelTorque (_id, fx, fy, fz); }
|
---|
| 116 | void addForceAtPos (dReal fx, dReal fy, dReal fz,
|
---|
| 117 | dReal px, dReal py, dReal pz)
|
---|
| 118 | { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
|
---|
| 119 | void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
|
---|
| 120 | dReal px, dReal py, dReal pz)
|
---|
| 121 | { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
|
---|
| 122 | void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
|
---|
| 123 | dReal px, dReal py, dReal pz)
|
---|
| 124 | { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
|
---|
| 125 |
|
---|
| 126 | void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result)
|
---|
| 127 | { dBodyGetRelPointPos (_id, px, py, pz, result); }
|
---|
| 128 | void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result)
|
---|
| 129 | { dBodyGetRelPointVel (_id, px, py, pz, result); }
|
---|
| 130 |
|
---|
| 131 | int isConnectedTo (const dBody &b)
|
---|
| 132 | { return dAreConnected (_id,b._id); }
|
---|
| 133 | };
|
---|
| 134 |
|
---|
| 135 |
|
---|
| 136 | class dJointGroup {
|
---|
| 137 | dJointGroupID _id;
|
---|
| 138 |
|
---|
| 139 | dJointGroup (dJointGroup &) { dDebug (0,"bad"); }
|
---|
| 140 | void operator= (dJointGroup &) { dDebug (0,"bad"); }
|
---|
| 141 |
|
---|
| 142 | public:
|
---|
| 143 | dJointGroup()
|
---|
| 144 | { _id = 0; }
|
---|
| 145 | dJointGroup (int max_size)
|
---|
| 146 | { _id = dJointGroupCreate (max_size); }
|
---|
| 147 | ~dJointGroup()
|
---|
| 148 | { dJointGroupDestroy (_id); }
|
---|
| 149 | void create (int max_size)
|
---|
| 150 | { if (_id) dJointGroupDestroy (_id); _id = dJointGroupCreate (max_size); }
|
---|
| 151 | dJointGroupID id()
|
---|
| 152 | { return _id; }
|
---|
| 153 |
|
---|
| 154 | void empty()
|
---|
| 155 | { dJointGroupEmpty (_id); }
|
---|
| 156 | };
|
---|
| 157 |
|
---|
| 158 |
|
---|
| 159 | class dJoint {
|
---|
| 160 | dJointID _id;
|
---|
| 161 |
|
---|
| 162 | dJoint (dJoint &) { dDebug (0,"bad"); }
|
---|
| 163 | void operator= (dJoint &) { dDebug (0,"bad"); }
|
---|
| 164 |
|
---|
| 165 | public:
|
---|
| 166 | dJoint()
|
---|
| 167 | { _id = 0; }
|
---|
| 168 | ~dJoint()
|
---|
| 169 | { dJointDestroy (_id); }
|
---|
| 170 | dJointID id()
|
---|
| 171 | { return _id; }
|
---|
| 172 |
|
---|
| 173 | void createBall (dWorld &world, dJointGroup *group=0) {
|
---|
| 174 | if (_id) dJointDestroy (_id);
|
---|
| 175 | _id = dJointCreateBall (world.id(), group ? group->id() : 0);
|
---|
| 176 | }
|
---|
| 177 | void createHinge (dWorld &world, dJointGroup *group=0) {
|
---|
| 178 | if (_id) dJointDestroy (_id);
|
---|
| 179 | _id = dJointCreateHinge (world.id(), group ? group->id() : 0);
|
---|
| 180 | }
|
---|
| 181 | void createSlider (dWorld &world, dJointGroup *group=0) {
|
---|
| 182 | if (_id) dJointDestroy (_id);
|
---|
| 183 | _id = dJointCreateSlider (world.id(), group ? group->id() : 0);
|
---|
| 184 | }
|
---|
| 185 | void createContact (dWorld &world, dJointGroup *group, dContact *contact) {
|
---|
| 186 | if (_id) dJointDestroy (_id);
|
---|
| 187 | _id = dJointCreateContact (world.id(), group ? group->id() : 0, contact);
|
---|
| 188 | }
|
---|
| 189 |
|
---|
| 190 | void attach (dBody &body1, dBody &body2)
|
---|
| 191 | { dJointAttach (_id, body1.id(), body2.id()); }
|
---|
| 192 |
|
---|
| 193 | void setBallAnchor (dReal x, dReal y, dReal z)
|
---|
| 194 | { dJointSetBallAnchor (_id, x, y, z); }
|
---|
| 195 | void setHingeAnchor (dReal x, dReal y, dReal z)
|
---|
| 196 | { dJointSetHingeAnchor (_id, x, y, z); }
|
---|
| 197 |
|
---|
| 198 | void setHingeAxis (dReal x, dReal y, dReal z)
|
---|
| 199 | { dJointSetHingeAxis (_id, x, y, z); }
|
---|
| 200 | void setSliderAxis (dReal x, dReal y, dReal z)
|
---|
| 201 | { dJointSetSliderAxis (_id, x, y, z); }
|
---|
| 202 |
|
---|
| 203 | void getBallAnchor (dVector3 result)
|
---|
| 204 | { dJointGetBallAnchor (_id, result); }
|
---|
| 205 | void getHingeAnchor (dVector3 result)
|
---|
| 206 | { dJointGetHingeAnchor (_id, result); }
|
---|
| 207 |
|
---|
| 208 | void getHingeAxis (dVector3 result)
|
---|
| 209 | { dJointGetHingeAxis (_id, result); }
|
---|
| 210 | void getSliderAxis (dVector3 result)
|
---|
| 211 | { dJointGetSliderAxis (_id, result); }
|
---|
| 212 | };
|
---|
| 213 |
|
---|
| 214 |
|
---|
| 215 | class dSpace {
|
---|
| 216 | dSpaceID _id;
|
---|
| 217 |
|
---|
| 218 | dSpace (dSpace &) { dDebug (0,"bad"); }
|
---|
| 219 | void operator= (dSpace &) { dDebug (0,"bad"); }
|
---|
| 220 |
|
---|
| 221 | public:
|
---|
| 222 | dSpace ()
|
---|
| 223 | { _id = dHashSpaceCreate(); }
|
---|
| 224 | ~dSpace()
|
---|
| 225 | { dSpaceDestroy (_id); }
|
---|
| 226 | dSpaceID id()
|
---|
| 227 | { return _id; }
|
---|
| 228 | void collide (void *data, dNearCallback *callback)
|
---|
| 229 | { dSpaceCollide (_id,data,callback); }
|
---|
| 230 | };
|
---|
| 231 |
|
---|
| 232 |
|
---|
| 233 | class dGeom {
|
---|
| 234 | dGeomID _id;
|
---|
| 235 |
|
---|
| 236 | dGeom (dGeom &) { dDebug (0,"bad"); }
|
---|
| 237 | void operator= (dGeom &) { dDebug (0,"bad"); }
|
---|
| 238 |
|
---|
| 239 | public:
|
---|
| 240 | dGeom()
|
---|
| 241 | { _id = 0; }
|
---|
| 242 | ~dGeom()
|
---|
| 243 | { dGeomDestroy (_id); }
|
---|
| 244 | dGeomID id()
|
---|
| 245 | { return _id; }
|
---|
| 246 |
|
---|
| 247 | void createSphere (dSpace &space, dReal radius) {
|
---|
| 248 | if (_id) dGeomDestroy (_id);
|
---|
| 249 | _id = dCreateSphere (space.id(),radius);
|
---|
| 250 | }
|
---|
| 251 |
|
---|
| 252 | void createBox (dSpace &space, dReal lx, dReal ly, dReal lz) {
|
---|
| 253 | if (_id) dGeomDestroy (_id);
|
---|
| 254 | _id = dCreateBox (space.id(),lx,ly,lz);
|
---|
| 255 | }
|
---|
| 256 |
|
---|
| 257 | void createPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d) {
|
---|
| 258 | if (_id) dGeomDestroy (_id);
|
---|
| 259 | _id = dCreatePlane (space.id(),a,b,c,d);
|
---|
| 260 | }
|
---|
| 261 |
|
---|
| 262 | void createCCylinder (dSpace &space, dReal radius, dReal length) {
|
---|
| 263 | if (_id) dGeomDestroy (_id);
|
---|
| 264 | _id = dCreateCCylinder (space.id(),radius,length);
|
---|
| 265 | }
|
---|
| 266 |
|
---|
| 267 | void destroy() {
|
---|
| 268 | if (_id) dGeomDestroy (_id);
|
---|
| 269 | _id = 0;
|
---|
| 270 | }
|
---|
| 271 |
|
---|
| 272 | int getClass()
|
---|
| 273 | { return dGeomGetClass (_id); }
|
---|
| 274 |
|
---|
| 275 | dReal sphereGetRadius()
|
---|
| 276 | { return dGeomSphereGetRadius (_id); }
|
---|
| 277 |
|
---|
| 278 | void boxGetLengths (dVector3 result)
|
---|
| 279 | { dGeomBoxGetLengths (_id,result); }
|
---|
| 280 |
|
---|
| 281 | void planeGetParams (dVector4 result)
|
---|
| 282 | { dGeomPlaneGetParams (_id,result); }
|
---|
| 283 |
|
---|
| 284 | void CCylinderGetParams (dReal *radius, dReal *length)
|
---|
| 285 | { dGeomCCylinderGetParams (_id,radius,length); }
|
---|
| 286 |
|
---|
| 287 | void setData (void *data)
|
---|
| 288 | { dGeomSetData (_id,data); }
|
---|
| 289 |
|
---|
| 290 | void *getData()
|
---|
| 291 | { return dGeomGetData (_id); }
|
---|
| 292 |
|
---|
| 293 | void setBody (dBody &b)
|
---|
| 294 | { dGeomSetBody (_id,b.id()); }
|
---|
| 295 | void setBody (dBodyID b)
|
---|
| 296 | { dGeomSetBody (_id,b); }
|
---|
| 297 |
|
---|
| 298 | dBodyID getBody()
|
---|
| 299 | { return dGeomGetBody (_id); }
|
---|
| 300 |
|
---|
| 301 | void setPosition (dReal x, dReal y, dReal z)
|
---|
| 302 | { dGeomSetPosition (_id,x,y,z); }
|
---|
| 303 |
|
---|
| 304 | void setRotation (const dMatrix3 R)
|
---|
| 305 | { dGeomSetRotation (_id,R); }
|
---|
| 306 |
|
---|
| 307 | const dReal * getPosition()
|
---|
| 308 | { return dGeomGetPosition (_id); }
|
---|
| 309 |
|
---|
| 310 | const dReal * getRotation()
|
---|
| 311 | { return dGeomGetRotation (_id); }
|
---|
| 312 | };
|
---|
| 313 |
|
---|
| 314 |
|
---|
| 315 | #endif
|
---|
| 316 | #endif
|
---|