64 lines
2.1 KiB
C++
64 lines
2.1 KiB
C++
// Filename: odeUtil.h
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// Created by: joswilso (27Dec06)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#ifndef ODEUTIL_H
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#define ODEUTIL_H
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#include "pandabase.h"
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#include "typedObject.h"
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#include "luse.h"
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#include "ode_includes.h"
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#include "odeJointCollection.h"
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#include "odeCollisionEntry.h"
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class OdeBody;
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class OdeJoint;
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class OdeGeom;
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////////////////////////////////////////////////////////////////////
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// Class : OdeUtil
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// Description :
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////////////////////////////////////////////////////////////////////
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class EXPCL_PANDAODE OdeUtil {
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PUBLISHED:
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static OdeJoint get_connecting_joint(const OdeBody &body1,
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const OdeBody &body2);
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static OdeJointCollection get_connecting_joint_list(const OdeBody &body1,
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const OdeBody &body2);
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static int are_connected(const OdeBody &body1,
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const OdeBody &body2);
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static int are_connected_excluding(const OdeBody &body1,
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const OdeBody &body2,
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const int joint_type);
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static PT(OdeCollisionEntry) collide(const OdeGeom &geom1, const OdeGeom &geom2,
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const short int max_contacts = 150);
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EXTENSION(static int collide2(const OdeGeom &geom1, const OdeGeom &geom2,
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PyObject* arg, PyObject* callback));
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static OdeGeom space_to_geom(const OdeSpace &space);
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static dReal OC_infinity;
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// RAU we can't access OC_infinity as constants are not exposed in python
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static dReal get_infinity() {return OC_infinity;};
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static int rand_get_seed() {return dRandGetSeed();};
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static void rand_set_seed(int s) {dRandSetSeed(s);};
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};
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#endif
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