TheCloud/panda3d
1
0
Fork 0
mirror of https://github.com/panda3d/panda3d.git synced 2025-10-03 10:22:45 -04:00
Code Issues Packages Projects Releases Wiki Activity

documented the class

Browse Source
This commit is contained in:
rdb 2008-12-17 13:25:15 +00:00
parent 109864928d
commit 4056a40c53
1 changed files with 36 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
panda/src/ode/odeUtil.cxx
View File

@ -16,38 +16,66 @@
dReal OdeUtil::OC_infinity = dInfinity;
////////////////////////////////////////////////////////////////////
// Function: OdeUtil::get_connecting_joint
// Access: Public, Static
// Description: Returns the joint that connects the given bodies.
////////////////////////////////////////////////////////////////////
OdeJoint OdeUtil::
get_connecting_joint(const OdeBody &body1, const OdeBody &body2) {
return OdeJoint(dConnectingJoint(body1.get_id(),body2.get_id()));
}
////////////////////////////////////////////////////////////////////
// Function: OdeUtil::get_connecting_joint_list
// Access: Public, Static
// Description: Returns a list of joints connecting the bodies.
////////////////////////////////////////////////////////////////////
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);
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;
}
////////////////////////////////////////////////////////////////////
// Function: OdeUtil::are_connected
// Access: Public, Static
// Description: Returns 1 if the given bodies are connected
// by a joint, returns 0 otherwise.
////////////////////////////////////////////////////////////////////
int OdeUtil::
are_connected(const OdeBody &body1, const OdeBody &body2) {
return dAreConnected(body1.get_id(),body2.get_id());
}
////////////////////////////////////////////////////////////////////
// Function: OdeUtil::are_connected_excluding
// Access: Public, Static
// Description: Returns 1 if the given bodies are connected
// by a joint that does not match the given
// joint_type, returns 0 otherwise. This is useful
// for deciding whether to add contact joints between
// two bodies: if they are already connected by
// non-contact joints then it may not be appropriate
// to add contacts, however it is okay to add more
// contact between bodies that already have contacts.
////////////////////////////////////////////////////////////////////
int OdeUtil::
are_connected_excluding(const OdeBody &body1,
const OdeBody &body2,
const int joint_type) {
const OdeBody &body2,
const int joint_type) {
return dAreConnectedExcluding(body1.get_id(),
body2.get_id(),
joint_type);
body2.get_id(),
joint_type);
}