177 lines
6.3 KiB
C++
Executable File
177 lines
6.3 KiB
C++
Executable File
// Filename: odeBody.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 ODEBODY_H
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#define ODEBODY_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 "odeWorld.h"
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#include "odeMass.h"
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#ifdef HAVE_PYTHON
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#include "Python.h"
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#endif
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class OdeJoint;
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class OdeGeom;
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class OdeCollisionEntry;
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////////////////////////////////////////////////////////////////////
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// Class : OdeBody
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// Description :
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////////////////////////////////////////////////////////////////////
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class EXPCL_PANDAODE OdeBody : public TypedObject {
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friend class OdeJoint;
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friend class OdeGeom;
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friend class OdeCollisionEntry;
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protected:
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OdeBody(dBodyID id);
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PUBLISHED:
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OdeBody(OdeWorld &world);
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virtual ~OdeBody();
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void destroy();
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INLINE bool is_empty() const;
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INLINE dBodyID get_id() const;
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INLINE void set_auto_disable_linear_threshold(dReal linear_threshold);
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INLINE void set_auto_disable_angular_threshold(dReal angular_threshold);
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INLINE void set_auto_disable_steps(int steps);
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INLINE void set_auto_disable_time(dReal time);
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INLINE void set_auto_disable_flag(int do_auto_disable);
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INLINE void set_auto_disable_defaults();
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INLINE void set_data(void *data);
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#ifdef HAVE_PYTHON
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INLINE void set_data(PyObject *data);
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#endif
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INLINE void set_position(dReal x, dReal y, dReal z);
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INLINE void set_position(const LVecBase3f &pos);
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INLINE void set_rotation(const LMatrix3f r);
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INLINE void set_quaternion(const LQuaternionf q);
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INLINE void set_linear_vel(dReal x, dReal y, dReal z);
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INLINE void set_linear_vel(const LVecBase3f &vel);
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INLINE void set_angular_vel(dReal x, dReal y, dReal z);
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INLINE void set_angular_vel(const LVecBase3f &vel);
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INLINE void set_mass(OdeMass &mass);
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INLINE dReal get_auto_disable_linear_threshold() const;
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INLINE dReal get_auto_disable_angular_threshold() const;
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INLINE int get_auto_disable_steps() const;
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INLINE dReal get_auto_disable_time() const;
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INLINE int get_auto_disable_flag() const;
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#ifdef HAVE_PYTHON
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INLINE PyObject* get_data() const;
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#else
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INLINE void* get_data() const;
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#endif
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INLINE LVecBase3f get_position() const;
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INLINE LMatrix3f get_rotation() const;
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INLINE LVecBase4f get_quaternion() const;
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INLINE LVecBase3f get_linear_vel() const;
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INLINE LVecBase3f get_angular_vel() const;
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INLINE OdeMass get_mass() const;
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INLINE void add_force(dReal fx, dReal fy, dReal fz);
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INLINE void add_force(const LVecBase3f &f);
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INLINE void add_torque(dReal fx, dReal fy, dReal fz);
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INLINE void add_torque(const LVecBase3f &f);
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INLINE void add_rel_force(dReal fx, dReal fy, dReal fz);
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INLINE void add_rel_force(const LVecBase3f &f);
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INLINE void add_rel_torque(dReal fx, dReal fy, dReal fz);
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INLINE void add_rel_torque(const LVecBase3f &f);
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INLINE void add_force_at_pos(dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz);
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INLINE void add_force_at_pos(const LVecBase3f &f,
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const LVecBase3f &pos);
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INLINE void add_force_at_rel_pos(dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz);
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INLINE void add_force_at_rel_pos(const LVecBase3f &f,
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const LVecBase3f &pos);
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INLINE void add_rel_force_at_pos(dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz);
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INLINE void add_rel_force_at_pos(const LVecBase3f &f,
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const LVecBase3f &pos);
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INLINE void add_rel_force_at_rel_pos(dReal fx, dReal fy, dReal fz,
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dReal px, dReal py, dReal pz);
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INLINE void add_rel_force_at_rel_pos(const LVecBase3f &f,
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const LVecBase3f &pos);
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INLINE void set_force(dReal x, dReal y, dReal z);
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INLINE void set_force(const LVecBase3f &f);
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INLINE void set_torque(dReal x, dReal y, dReal z);
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INLINE void set_torque(const LVecBase3f &f);
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INLINE LPoint3f get_rel_point_pos(dReal px, dReal py, dReal pz) const;
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INLINE LPoint3f get_rel_point_pos(const LVecBase3f &pos) const;
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INLINE LPoint3f get_rel_point_vel(dReal px, dReal py, dReal pz) const;
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INLINE LPoint3f get_rel_point_vel(const LVecBase3f &pos) const;
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INLINE LPoint3f get_point_vel(dReal px, dReal py, dReal pz) const;
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INLINE LPoint3f get_point_vel(const LVecBase3f &pos) const;
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INLINE LPoint3f get_pos_rel_point(dReal px, dReal py, dReal pz) const;
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INLINE LPoint3f get_pos_rel_point(const LVecBase3f &pos) const;
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INLINE LVecBase3f vector_to_world(dReal px, dReal py, dReal pz) const;
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INLINE LVecBase3f vector_to_world(const LVecBase3f &pos) const;
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INLINE LVecBase3f vector_from_world(dReal px, dReal py, dReal pz) const;
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INLINE LVecBase3f vector_from_world(const LVecBase3f &pos) const;
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INLINE void set_finite_rotation_mode(int mode);
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INLINE void set_finite_rotation_axis(dReal x, dReal y, dReal z);
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INLINE void set_finite_rotation_axis(const LVecBase3f &axis);
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INLINE int get_finite_rotation_mode() const;
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INLINE LVecBase3f get_finite_rotation_axis() const;
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INLINE int get_num_joints() const;
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OdeJoint get_joint(int index) const;
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MAKE_SEQ(get_joints, get_num_joints, get_joint);
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INLINE void enable();
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INLINE void disable();
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INLINE int is_enabled() const;
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INLINE void set_gravity_mode(int mode);
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INLINE int get_gravity_mode() const;
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virtual void write(ostream &out = cout, unsigned int indent=0) const;
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operator bool () const;
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INLINE int compare_to(const OdeBody &other) const;
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private:
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dBodyID _id;
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type() {
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TypedObject::init_type();
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register_type(_type_handle, "OdeBody",
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TypedObject::get_class_type());
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}
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virtual TypeHandle get_type() const {
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return get_class_type();
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}
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virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
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private:
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static TypeHandle _type_handle;
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};
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#include "odeBody.I"
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#endif
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