58 lines
1.7 KiB
C++
Executable File
58 lines
1.7 KiB
C++
Executable File
// Filename: odeUtil.cxx
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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) 2001 - 2004, Disney Enterprises, Inc. All rights reserved
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//
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// All use of this software is subject to the terms of the Panda 3d
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// Software license. You should have received a copy of this license
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// along with this source code; you will also find a current copy of
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// the license at http://etc.cmu.edu/panda3d/docs/license/ .
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//
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// To contact the maintainers of this program write to
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// panda3d-general@lists.sourceforge.net .
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//
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////////////////////////////////////////////////////////////////////
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#include "odeUtil.h"
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dReal OdeUtil::OC_infinity = dInfinity;
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OdeJoint OdeUtil::
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get_connecting_joint(const OdeBody &body1, const OdeBody &body2) {
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return OdeJoint(dConnectingJoint(body1.get_id(),body2.get_id()));
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}
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OdeJointCollection OdeUtil::
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get_connecting_joint_list(const OdeBody &body1, const OdeBody &body2) {
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const int max_possible_joints = min(body1.get_num_joints(), body1.get_num_joints());
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dJointID *joint_list = new dJointID[max_possible_joints];
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int num_joints = dConnectingJointList(body1.get_id(), body2.get_id(),
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joint_list);
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OdeJointCollection joints;
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for (int i = 0; i < num_joints; i++) {
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joints.add_joint(OdeJoint(joint_list[i]));
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}
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delete[] joint_list;
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return joints;
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}
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int OdeUtil::
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are_connected(const OdeBody &body1, const OdeBody &body2) {
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return dAreConnected(body1.get_id(),body2.get_id());
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}
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int OdeUtil::
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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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return dAreConnectedExcluding(body1.get_id(),
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body2.get_id(),
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joint_type);
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}
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