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formatting and added LVecBase3f functionality

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This commit is contained in:
Josh Wilson 2007-02-11 07:38:27 +00:00
parent 5c26e4cf4d
commit a80d9f95ba
2 changed files with 41 additions and 18 deletions
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18
panda/src/ode/odeWorld.I
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@ -26,6 +26,11 @@ set_gravity(dReal x, dReal y, dReal z) {
dWorldSetGravity(_id, x, y, z);
}
INLINE void OdeWorld::
set_gravity(const LVecBase3f &vec) {
dWorldSetGravity(_id, vec[0], vec[1], vec[2]);
}
INLINE LVecBase3f OdeWorld::
get_gravity() const {
dVector3 gravity;
@ -61,7 +66,7 @@ step(dReal stepsize) {
INLINE LVecBase3f OdeWorld::
impulse_to_force(dReal stepsize, \
dReal ix, dReal iy, dReal iz){
dReal ix, dReal iy, dReal iz){
dVector3 force;
dWorldImpulseToForce(_id,
stepsize,
@ -70,6 +75,17 @@ impulse_to_force(dReal stepsize, \
return LVecBase3f(force[0], force[1], force[2]);
}
INLINE LVecBase3f OdeWorld::
impulse_to_force(dReal stepsize, \
const LVecBase3f &impulse){
dVector3 force;
dWorldImpulseToForce(_id,
stepsize,
impulse[0], impulse[1], impulse[2],
force);
return LVecBase3f(force[0], force[1], force[2]);
}
INLINE void OdeWorld::
quick_step(dReal stepsize) {
dWorldQuickStep(_id, stepsize);

41
panda/src/ode/odeWorld.h
View File

@ -39,36 +39,43 @@ PUBLISHED:
void destroy();
INLINE void set_gravity(dReal x, dReal y, dReal z);
INLINE LVecBase3f get_gravity() const;
INLINE void set_gravity(const LVecBase3f &vec);
INLINE void set_erp(dReal erp);
INLINE dReal get_erp() const;
INLINE void set_cfm(dReal cfm);
INLINE dReal get_cfm() const;
INLINE void step(dReal stepsize);
INLINE LVecBase3f impulse_to_force(dReal stepsize, \
dReal ix, dReal iy, dReal iz);
INLINE void quick_step(dReal stepsize);
INLINE void set_quick_step_num_iterations(int num);
INLINE int get_quick_step_num_iterations() const;
INLINE void set_quick_step_w(dReal over_relaxation);
INLINE dReal get_quick_step_w() const;
INLINE void set_contact_max_correcting_vel(dReal vel);
INLINE dReal get_contact_max_correcting_vel() const;
INLINE void set_contact_surface_layer(dReal depth);
INLINE dReal get_contact_surface_layer() const;
INLINE void step_fast1(dReal stepsize, int maxiterations);
INLINE void set_auto_enable_depth_sf1(int auto_enable_depth);
INLINE void set_auto_disable_linear_threshold(dReal linear_threshold);
INLINE void set_auto_disable_angular_threshold(dReal angular_threshold);
INLINE void set_auto_disable_steps(int steps);
INLINE void set_auto_disable_time(dReal time);
INLINE void set_auto_disable_flag(int do_auto_disable);
INLINE LVecBase3f get_gravity() const;
INLINE dReal get_erp() const;
INLINE dReal get_cfm() const;
INLINE int get_quick_step_num_iterations() const;
INLINE dReal get_quick_step_w() const;
INLINE dReal get_contact_max_correcting_vel() const;
INLINE dReal get_contact_surface_layer() const;
INLINE int get_auto_enable_depth_sf1() const;
INLINE dReal get_auto_disable_linear_threshold() const;
INLINE void set_auto_disable_linear_threshold(dReal linear_threshold);
INLINE dReal get_auto_disable_angular_threshold() const;
INLINE void set_auto_disable_angular_threshold(dReal angular_threshold);
INLINE int get_auto_disable_steps() const;
INLINE void set_auto_disable_steps(int steps);
INLINE dReal get_auto_disable_time() const;
INLINE void set_auto_disable_time(dReal time);
INLINE int get_auto_disable_flag() const;
INLINE void set_auto_disable_flag(int do_auto_disable);
INLINE LVecBase3f impulse_to_force(dReal stepsize, \
dReal ix, dReal iy, dReal iz);
INLINE LVecBase3f impulse_to_force(dReal stepsize, \
const LVecBase3f &impulse);
INLINE void step(dReal stepsize);
INLINE void quick_step(dReal stepsize);
INLINE void step_fast1(dReal stepsize, int maxiterations);
INLINE int compare_to(const OdeWorld &other) const;
public: