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documented the class

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rdb 2008-12-17 13:25:15 +00:00
parent 109864928d
commit 4056a40c53
1 changed files with 36 additions and 8 deletions
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28
panda/src/ode/odeUtil.cxx
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@ -16,11 +16,21 @@
dReal OdeUtil::OC_infinity = dInfinity; dReal OdeUtil::OC_infinity = dInfinity;
////////////////////////////////////////////////////////////////////
// Function: OdeUtil::get_connecting_joint
// Access: Public, Static
// Description: Returns the joint that connects the given bodies.
////////////////////////////////////////////////////////////////////
OdeJoint OdeUtil:: OdeJoint OdeUtil::
get_connecting_joint(const OdeBody &body1, const OdeBody &body2) { get_connecting_joint(const OdeBody &body1, const OdeBody &body2) {
return OdeJoint(dConnectingJoint(body1.get_id(),body2.get_id())); 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:: OdeJointCollection OdeUtil::
get_connecting_joint_list(const OdeBody &body1, const OdeBody &body2) { get_connecting_joint_list(const OdeBody &body1, const OdeBody &body2) {
const int max_possible_joints = min(body1.get_num_joints(), body1.get_num_joints()); const int max_possible_joints = min(body1.get_num_joints(), body1.get_num_joints());
@ -37,11 +47,29 @@ get_connecting_joint_list(const OdeBody &body1, const OdeBody &body2) {
return joints; 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:: int OdeUtil::
are_connected(const OdeBody &body1, const OdeBody &body2) { are_connected(const OdeBody &body1, const OdeBody &body2) {
return dAreConnected(body1.get_id(),body2.get_id()); 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:: int OdeUtil::
are_connected_excluding(const OdeBody &body1, are_connected_excluding(const OdeBody &body1,
const OdeBody &body2, const OdeBody &body2,