54 lines
1.6 KiB
C++
Executable File
54 lines
1.6 KiB
C++
Executable File
// Filename: odeUtil.cxx
|
|
// Created by: joswilso (27Dec06)
|
|
//
|
|
////////////////////////////////////////////////////////////////////
|
|
//
|
|
// PANDA 3D SOFTWARE
|
|
// Copyright (c) Carnegie Mellon University. All rights reserved.
|
|
//
|
|
// All use of this software is subject to the terms of the revised BSD
|
|
// license. You should have received a copy of this license along
|
|
// with this source code in a file named "LICENSE."
|
|
//
|
|
////////////////////////////////////////////////////////////////////
|
|
|
|
#include "odeUtil.h"
|
|
|
|
dReal OdeUtil::OC_infinity = dInfinity;
|
|
|
|
OdeJoint OdeUtil::
|
|
get_connecting_joint(const OdeBody &body1, const OdeBody &body2) {
|
|
return OdeJoint(dConnectingJoint(body1.get_id(),body2.get_id()));
|
|
}
|
|
|
|
OdeJointCollection OdeUtil::
|
|
get_connecting_joint_list(const OdeBody &body1, const OdeBody &body2) {
|
|
const int max_possible_joints = min(body1.get_num_joints(), body1.get_num_joints());
|
|
|
|
dJointID *joint_list = (dJointID *)PANDA_MALLOC_ARRAY(max_possible_joints * sizeof(dJointID));
|
|
int num_joints = dConnectingJointList(body1.get_id(), body2.get_id(),
|
|
joint_list);
|
|
OdeJointCollection joints;
|
|
for (int i = 0; i < num_joints; i++) {
|
|
joints.add_joint(OdeJoint(joint_list[i]));
|
|
}
|
|
|
|
PANDA_FREE_ARRAY(joint_list);
|
|
return joints;
|
|
}
|
|
|
|
int OdeUtil::
|
|
are_connected(const OdeBody &body1, const OdeBody &body2) {
|
|
return dAreConnected(body1.get_id(),body2.get_id());
|
|
}
|
|
|
|
int OdeUtil::
|
|
are_connected_excluding(const OdeBody &body1,
|
|
const OdeBody &body2,
|
|
const int joint_type) {
|
|
return dAreConnectedExcluding(body1.get_id(),
|
|
body2.get_id(),
|
|
joint_type);
|
|
}
|
|
|