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+######################################################################
+# Python Open Dynamics Engine Wrapper
+# Copyright (C) 2004 PyODE developers (see file AUTHORS)
+# All rights reserved.
+#
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of EITHER:
+# (1) The GNU Lesser General Public License as published by the Free
+# Software Foundation; either version 2.1 of the License, or (at
+# your option) any later version. The text of the GNU Lesser
+# General Public License is included with this library in the
+# file LICENSE.
+# (2) The BSD-style license that is included with this library in
+# the file LICENSE-BSD.
+#
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+# LICENSE and LICENSE-BSD for more details.
+######################################################################
+
+cdef extern from "stdlib.h":
+
+ void* malloc(long)
+ void free(void*)
+
+cdef extern from "stdio.h":
+ int printf(char*)
+
+# Include the basic floating point type -> dReal (either float or double)
+#include "_precision.pyx"
+
+cdef extern from "ode/ode.h":
+
+ ctypedef double dReal
+
+ # Dummy structs
+ cdef struct dxWorld:
+ int _dummy
+ cdef struct dxSpace:
+ int _dummy
+ cdef struct dxBody:
+ int _dummy
+ cdef struct dxGeom:
+ int _dummy
+ cdef struct dxJoint:
+ int _dummy
+ cdef struct dxJointGroup:
+ int _dummy
+ cdef struct dxTriMeshData:
+ int _dummy
+ cdef struct dxHeightfieldData:
+ int _dummy
+
+ # Types
+ ctypedef dxWorld* dWorldID
+ ctypedef dxSpace* dSpaceID
+ ctypedef dxBody* dBodyID
+ ctypedef dxGeom* dGeomID
+ ctypedef dxJoint* dJointID
+ ctypedef dxJointGroup* dJointGroupID
+ ctypedef dxTriMeshData* dTriMeshDataID
+ ctypedef dxHeightfieldData* dHeightfieldDataID
+ ctypedef dReal dVector3[4]
+ ctypedef dReal dVector4[4]
+ ctypedef dReal dMatrix3[4*3]
+ ctypedef dReal dMatrix4[4*4]
+ ctypedef dReal dMatrix6[8*6]
+ ctypedef dReal dQuaternion[4]
+
+ cdef extern dReal dInfinity
+ cdef extern int dAMotorUser
+ cdef extern int dAMotorEuler
+
+ ctypedef struct dMass:
+ dReal mass
+ dVector4 c
+ dMatrix3 I
+
+ ctypedef struct dJointFeedback:
+ dVector3 f1
+ dVector3 t1
+ dVector3 f2
+ dVector3 t2
+
+ ctypedef void dNearCallback(void* data, dGeomID o1, dGeomID o2)
+ ctypedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z )
+
+ ctypedef struct dSurfaceParameters:
+ int mode
+ dReal mu
+
+ dReal mu2
+ dReal bounce
+ dReal bounce_vel
+ dReal soft_erp
+ dReal soft_cfm
+ dReal motion1,motion2
+ dReal slip1,slip2
+
+ ctypedef struct dContactGeom:
+ dVector3 pos
+ dVector3 normal
+ dReal depth
+ dGeomID g1,g2
+
+ ctypedef struct dContact:
+ dSurfaceParameters surface
+ dContactGeom geom
+ dVector3 fdir1
+
+
+ # World
+ dWorldID dWorldCreate()
+ void dWorldDestroy (dWorldID)
+
+ void dCloseODE()
+ void dInitODE()
+
+ void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z)
+ void dWorldGetGravity (dWorldID, dVector3 gravity)
+ void dWorldSetERP (dWorldID, dReal erp)
+ dReal dWorldGetERP (dWorldID)
+ void dWorldSetCFM (dWorldID, dReal cfm)
+ dReal dWorldGetCFM (dWorldID)
+ void dWorldStep (dWorldID, dReal stepsize)
+ void dWorldQuickStep (dWorldID, dReal stepsize)
+ void dWorldSetQuickStepNumIterations (dWorldID, int num)
+ int dWorldGetQuickStepNumIterations (dWorldID)
+ void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel)
+ dReal dWorldGetContactMaxCorrectingVel (dWorldID)
+ void dWorldSetContactSurfaceLayer (dWorldID, dReal depth)
+ dReal dWorldGetContactSurfaceLayer (dWorldID)
+ void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable)
+ int dWorldGetAutoDisableFlag (dWorldID)
+ void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold)
+ dReal dWorldGetAutoDisableLinearThreshold (dWorldID)
+ void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold)
+ dReal dWorldGetAutoDisableAngularThreshold (dWorldID)
+ void dWorldSetAutoDisableSteps (dWorldID, int steps)
+ int dWorldGetAutoDisableSteps (dWorldID)
+ void dWorldSetAutoDisableTime (dWorldID, dReal time)
+ dReal dWorldGetAutoDisableTime (dWorldID)
+ dReal dWorldGetLinearDamping (dWorldID)
+ void dWorldSetLinearDamping (dWorldID, dReal scale)
+ dReal dWorldGetAngularDamping (dWorldID)
+ void dWorldSetAngularDamping (dWorldID, dReal scale)
+ void dWorldImpulseToForce (dWorldID, dReal stepsize,
+ dReal ix, dReal iy, dReal iz, dVector3 force)
+
+ # Body
+ dBodyID dBodyCreate (dWorldID)
+ void dBodyDestroy (dBodyID)
+
+ void dBodySetData (dBodyID, void *data)
+ void *dBodyGetData (dBodyID)
+
+ void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z)
+ void dBodySetRotation (dBodyID, dMatrix3 R)
+ void dBodySetQuaternion (dBodyID, dQuaternion q)
+ void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z)
+ void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z)
+ dReal * dBodyGetPosition (dBodyID)
+ dReal * dBodyGetRotation (dBodyID)
+ dReal * dBodyGetQuaternion (dBodyID)
+ dReal * dBodyGetLinearVel (dBodyID)
+ dReal * dBodyGetAngularVel (dBodyID)
+
+ void dBodySetMass (dBodyID, dMass *mass)
+ void dBodyGetMass (dBodyID, dMass *mass)
+
+ void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz)
+ void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz)
+ void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz)
+ void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz)
+ void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
+ void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
+ void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
+ void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz)
+
+ dReal * dBodyGetForce (dBodyID)
+ dReal * dBodyGetTorque (dBodyID)
+
+ void dBodySetForce(dBodyID, dReal x, dReal y, dReal z)
+ void dBodySetTorque(dBodyID, dReal x, dReal y, dReal z)
+
+ void dBodyGetRelPointPos (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
+ void dBodyGetRelPointVel (dBodyID, dReal px, dReal py, dReal pz, dVector3 result)
+ void dBodyGetPointVel (dBodyID, dReal px, dReal py, dReal pz,
+ dVector3 result)
+ void dBodyGetPosRelPoint (dBodyID, dReal px, dReal py, dReal pz,
+ dVector3 result)
+ void dBodyVectorToWorld (dBodyID, dReal px, dReal py, dReal pz,
+ dVector3 result)
+ void dBodyVectorFromWorld (dBodyID, dReal px, dReal py, dReal pz,
+ dVector3 result)
+
+ void dBodySetFiniteRotationMode (dBodyID, int mode)
+ void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z)
+
+ int dBodyGetFiniteRotationMode (dBodyID)
+ void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result)
+
+ int dBodyGetNumJoints (dBodyID b)
+ dJointID dBodyGetJoint (dBodyID, int index)
+
+ void dBodyEnable (dBodyID)
+ void dBodyDisable (dBodyID)
+ int dBodyIsEnabled (dBodyID)
+
+ void dBodySetGravityMode (dBodyID b, int mode)
+ int dBodyGetGravityMode (dBodyID b)
+
+ void dBodySetDynamic (dBodyID)
+ void dBodySetKinematic (dBodyID)
+ int dBodyIsKinematic (dBodyID)
+
+ void dBodySetMaxAngularSpeed (dBodyID, dReal max_speed)
+
+ # Joints
+ dJointID dJointCreateBall (dWorldID, dJointGroupID)
+ dJointID dJointCreateHinge (dWorldID, dJointGroupID)
+ dJointID dJointCreateSlider (dWorldID, dJointGroupID)
+ dJointID dJointCreateContact (dWorldID, dJointGroupID, dContact *)
+ dJointID dJointCreateUniversal (dWorldID, dJointGroupID)
+ dJointID dJointCreatePR (dWorldID, dJointGroupID)
+ dJointID dJointCreateHinge2 (dWorldID, dJointGroupID)
+ dJointID dJointCreateFixed (dWorldID, dJointGroupID)
+ dJointID dJointCreateNull (dWorldID, dJointGroupID)
+ dJointID dJointCreateAMotor (dWorldID, dJointGroupID)
+ dJointID dJointCreateLMotor (dWorldID, dJointGroupID)
+ dJointID dJointCreatePlane2D (dWorldID, dJointGroupID)
+
+ void dJointDestroy (dJointID)
+
+ void dJointEnable (dJointID)
+ void dJointDisable (dJointID)
+ int dJointIsEnabled (dJointID)
+
+ dJointGroupID dJointGroupCreate (int max_size)
+ void dJointGroupDestroy (dJointGroupID)
+ void dJointGroupEmpty (dJointGroupID)
+
+ void dJointAttach (dJointID, dBodyID body1, dBodyID body2)
+ void dJointSetData (dJointID, void *data)
+ void *dJointGetData (dJointID)
+ int dJointGetType (dJointID)
+ dBodyID dJointGetBody (dJointID, int index)
+
+ void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z)
+ void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z)
+ void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z)
+ void dJointSetHingeParam (dJointID, int parameter, dReal value)
+ void dJointAddHingeTorque(dJointID joint, dReal torque)
+ void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z)
+ void dJointSetSliderParam (dJointID, int parameter, dReal value)
+ void dJointAddSliderForce(dJointID joint, dReal force)
+ void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z)
+ void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z)
+ void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z)
+ void dJointSetHinge2Param (dJointID, int parameter, dReal value)
+ void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2)
+ void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z)
+ void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z)
+ void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z)
+ void dJointSetUniversalParam (dJointID, int parameter, dReal value)
+ void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2)
+ void dJointSetFixed (dJointID)
+ void dJointSetAMotorNumAxes (dJointID, int num)
+ void dJointSetAMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z)
+ void dJointSetAMotorAngle (dJointID, int anum, dReal angle)
+ void dJointSetAMotorParam (dJointID, int parameter, dReal value)
+ void dJointSetAMotorMode (dJointID, int mode)
+ void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3)
+ void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z)
+ void dJointSetLMotorNumAxes (dJointID, int num)
+ void dJointSetLMotorParam (dJointID, int parameter, dReal value)
+
+ void dJointGetBallAnchor (dJointID, dVector3 result)
+ void dJointGetBallAnchor2 (dJointID, dVector3 result)
+ void dJointGetHingeAnchor (dJointID, dVector3 result)
+ void dJointGetHingeAnchor2 (dJointID, dVector3 result)
+ void dJointGetHingeAxis (dJointID, dVector3 result)
+ dReal dJointGetHingeParam (dJointID, int parameter)
+ dReal dJointGetHingeAngle (dJointID)
+ dReal dJointGetHingeAngleRate (dJointID)
+ dReal dJointGetSliderPosition (dJointID)
+ dReal dJointGetSliderPositionRate (dJointID)
+ void dJointGetSliderAxis (dJointID, dVector3 result)
+ dReal dJointGetSliderParam (dJointID, int parameter)
+ void dJointGetHinge2Anchor (dJointID, dVector3 result)
+ void dJointGetHinge2Anchor2 (dJointID, dVector3 result)
+ void dJointGetHinge2Axis1 (dJointID, dVector3 result)
+ void dJointGetHinge2Axis2 (dJointID, dVector3 result)
+ dReal dJointGetHinge2Param (dJointID, int parameter)
+ dReal dJointGetHinge2Angle1 (dJointID)
+ dReal dJointGetHinge2Angle1Rate (dJointID)
+ dReal dJointGetHinge2Angle2Rate (dJointID)
+ void dJointGetUniversalAnchor (dJointID, dVector3 result)
+ void dJointGetUniversalAnchor2 (dJointID, dVector3 result)
+ void dJointGetUniversalAxis1 (dJointID, dVector3 result)
+ void dJointGetUniversalAxis2 (dJointID, dVector3 result)
+ dReal dJointGetUniversalParam (dJointID, int parameter)
+ dReal dJointGetUniversalAngle1 (dJointID)
+ dReal dJointGetUniversalAngle2 (dJointID)
+ dReal dJointGetUniversalAngle1Rate (dJointID)
+ dReal dJointGetUniversalAngle2Rate (dJointID)
+ int dJointGetAMotorNumAxes (dJointID)
+ void dJointGetAMotorAxis (dJointID, int anum, dVector3 result)
+ int dJointGetAMotorAxisRel (dJointID, int anum)
+ dReal dJointGetAMotorAngle (dJointID, int anum)
+ dReal dJointGetAMotorAngleRate (dJointID, int anum)
+ dReal dJointGetAMotorParam (dJointID, int parameter)
+ int dJointGetAMotorMode (dJointID)
+ int dJointGetLMotorNumAxes (dJointID)
+ void dJointGetLMotorAxis (dJointID, int anum, dVector3 result)
+ dReal dJointGetLMotorParam (dJointID, int parameter)
+ void dJointSetPlane2DXParam (dJointID, int parameter, dReal value)
+ void dJointSetPlane2DYParam (dJointID, int parameter, dReal value)
+ void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value)
+ dReal dJointGetPRPosition (dJointID j)
+ void dJointSetPRAnchor (dJointID j, dReal x, dReal y, dReal z)
+ void dJointSetPRAxis1 (dJointID j, dReal x, dReal y, dReal z)
+ void dJointSetPRAxis2 (dJointID j, dReal x, dReal y, dReal z)
+ void dJointGetPRAnchor (dJointID j, dVector3 result)
+ void dJointGetPRAxis1 (dJointID j, dVector3 result)
+ void dJointGetPRAxis2 (dJointID j, dVector3 result)
+
+ void dJointSetFeedback (dJointID, dJointFeedback *)
+ dJointFeedback *dJointGetFeedback (dJointID)
+
+ int dAreConnected (dBodyID, dBodyID)
+
+ # Mass
+ void dMassSetZero (dMass *)
+ void dMassSetParameters (dMass *, dReal themass,
+ dReal cgx, dReal cgy, dReal cgz,
+ dReal I11, dReal I22, dReal I33,
+ dReal I12, dReal I13, dReal I23)
+ void dMassSetSphere (dMass *, dReal density, dReal radius)
+ void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius)
+ void dMassSetCapsule (dMass *, dReal density, int direction, dReal radius, dReal length)
+ void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction, dReal radius, dReal length)
+ void dMassSetCylinder (dMass *, dReal density, int direction,
+ dReal radius, dReal length)
+ void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
+ dReal radius, dReal length)
+ void dMassSetBox (dMass *, dReal density,
+ dReal lx, dReal ly, dReal lz)
+ void dMassSetBoxTotal (dMass *, dReal total_mass,
+ dReal lx, dReal ly, dReal lz)
+ void dMassAdjust (dMass *, dReal newmass)
+ void dMassTranslate (dMass *, dReal x, dReal y, dReal z)
+ void dMassRotate (dMass *, dMatrix3 R)
+ void dMassAdd (dMass *a, dMass *b)
+
+ # Space
+# dSpaceID dSimpleSpaceCreate(int space)
+# dSpaceID dHashSpaceCreate(int space)
+ dSpaceID dSimpleSpaceCreate(dSpaceID space)
+ dSpaceID dHashSpaceCreate(dSpaceID space)
+ dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center,
+ dVector3 Extents, int Depth)
+
+ void dSpaceDestroy (dSpaceID)
+ void dSpaceAdd (dSpaceID, dGeomID)
+ void dSpaceRemove (dSpaceID, dGeomID)
+ int dSpaceQuery (dSpaceID, dGeomID)
+ void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback)
+ void dSpaceCollide2 (dGeomID o1, dGeomID o2, void *data, dNearCallback *callback)
+
+ void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel)
+ void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel)
+
+ void dSpaceSetCleanup (dSpaceID space, int mode)
+ int dSpaceGetCleanup (dSpaceID space)
+
+ int dSpaceGetNumGeoms (dSpaceID)
+ dGeomID dSpaceGetGeom (dSpaceID, int i)
+
+ # Geom
+ dGeomID dCreateSphere (dSpaceID space, dReal radius)
+ dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
+ dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
+ dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length)
+ dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length)
+ dGeomID dCreateGeomGroup (dSpaceID space)
+
+ void dGeomSphereSetRadius (dGeomID sphere, dReal radius)
+ void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz)
+ void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d)
+ void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length)
+ void dGeomCylinderSetParams (dGeomID ccylinder, dReal radius, dReal length)
+
+ dReal dGeomSphereGetRadius (dGeomID sphere)
+ void dGeomBoxGetLengths (dGeomID box, dVector3 result)
+ void dGeomPlaneGetParams (dGeomID plane, dVector4 result)
+ void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length)
+ void dGeomCylinderGetParams (dGeomID ccylinder, dReal *radius, dReal *length)
+
+ dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z)
+ dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z)
+ dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z)
+ dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z)
+
+ dGeomID dCreateRay (dSpaceID space, dReal length)
+ void dGeomRaySetLength (dGeomID ray, dReal length)
+ dReal dGeomRayGetLength (dGeomID ray)
+ void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
+ dReal dx, dReal dy, dReal dz)
+ void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir)
+
+ void dGeomSetData (dGeomID, void *)
+ void *dGeomGetData (dGeomID)
+ void dGeomSetBody (dGeomID, dBodyID)
+ dBodyID dGeomGetBody (dGeomID)
+ void dGeomSetPosition (dGeomID, dReal x, dReal y, dReal z)
+ void dGeomSetRotation (dGeomID, dMatrix3 R)
+ void dGeomSetQuaternion (dGeomID, dQuaternion)
+ dReal * dGeomGetPosition (dGeomID)
+ dReal * dGeomGetRotation (dGeomID)
+ void dGeomGetQuaternion (dGeomID, dQuaternion result)
+ void dGeomSetOffsetPosition (dGeomID, dReal x, dReal y, dReal z)
+ void dGeomSetOffsetRotation (dGeomID, dMatrix3 R)
+ void dGeomClearOffset (dGeomID)
+ dReal * dGeomGetOffsetPosition (dGeomID)
+ dReal * dGeomGetOffsetRotation (dGeomID)
+ void dGeomDestroy (dGeomID)
+ void dGeomGetAABB (dGeomID, dReal aabb[6])
+ dReal *dGeomGetSpaceAABB (dGeomID)
+ int dGeomIsSpace (dGeomID)
+ dSpaceID dGeomGetSpace (dGeomID)
+ int dGeomGetClass (dGeomID)
+
+ void dGeomSetCategoryBits(dGeomID, unsigned long bits)
+ void dGeomSetCollideBits(dGeomID, unsigned long bits)
+ unsigned long dGeomGetCategoryBits(dGeomID)
+ unsigned long dGeomGetCollideBits(dGeomID)
+
+ void dGeomEnable (dGeomID)
+ void dGeomDisable (dGeomID)
+ int dGeomIsEnabled (dGeomID)
+
+ void dGeomGroupAdd (dGeomID group, dGeomID x)
+ void dGeomGroupRemove (dGeomID group, dGeomID x)
+ int dGeomGroupGetNumGeoms (dGeomID group)
+ dGeomID dGeomGroupGetGeom (dGeomID group, int i)
+
+ dGeomID dCreateGeomTransform (dSpaceID space)
+ void dGeomTransformSetGeom (dGeomID g, dGeomID obj)
+ dGeomID dGeomTransformGetGeom (dGeomID g)
+ void dGeomTransformSetCleanup (dGeomID g, int mode)
+ int dGeomTransformGetCleanup (dGeomID g)
+ void dGeomTransformSetInfo (dGeomID g, int mode)
+ int dGeomTransformGetInfo (dGeomID g)
+
+ int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip)
+
+ # Trimesh
+ dTriMeshDataID dGeomTriMeshDataCreate()
+ void dGeomTriMeshDataDestroy(dTriMeshDataID g)
+ void dGeomTriMeshDataBuildSingle1 (dTriMeshDataID g, void* Vertices,
+ int VertexStride, int VertexCount,
+ void* Indices, int IndexCount,
+ int TriStride, void* Normals)
+
+ void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
+ dReal* Vertices, int VertexCount,
+ int* Indices, int IndexCount)
+
+ dGeomID dCreateTriMesh (dSpaceID space, dTriMeshDataID Data,
+ void* Callback,
+ void* ArrayCallback,
+ void* RayCallback)
+
+ void dGeomTriMeshSetData (dGeomID g, dTriMeshDataID Data)
+
+ void dGeomTriMeshClearTCCache (dGeomID g)
+
+ void dGeomTriMeshGetTriangle (dGeomID g, int Index, dVector3 *v0,
+ dVector3 *v1, dVector3 *v2)
+
+ int dGeomTriMeshGetTriangleCount (dGeomID g)
+
+ void dGeomTriMeshGetPoint (dGeomID g, int Index, dReal u, dReal v,
+ dVector3 Out)
+
+ void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable)
+ int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass)
+
+ # Heightfield
+ dHeightfieldDataID dGeomHeightfieldDataCreate()
+ void dGeomHeightfieldDataDestroy(dHeightfieldDataID g)
+ void dGeomHeightfieldDataBuildCallback(dHeightfieldDataID d,
+ void* pUserData,
+ dHeightfieldGetHeight* pCallback,
+ dReal width, dReal depth,
+ int widthSamples, int depthSamples,
+ dReal scale, dReal offset,
+ dReal thickness, int bWrap)
+ dGeomID dCreateHeightfield (dSpaceID space, dHeightfieldDataID data,
+ int bPlaceable)
+
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-01 04:40:54 +0000