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OdeUtil Class Reference

Public Member Functions

 __init__ ()
 
 __init__ (const OdeUtil)
 

Static Public Member Functions

static int areConnected (const OdeBody body1, const OdeBody body2)
 Returns 1 if the given bodies are connected by a joint, returns 0 otherwise. More...
 
static int areConnectedExcluding (const OdeBody body1, const OdeBody body2, const int joint_type)
 Returns 1 if the given bodies are connected by a joint that does not match the given joint_type, returns 0 otherwise. More...
 
static OdeCollisionEntry collide (const OdeGeom geom1, const OdeGeom geom2, const short int max_contacts)
 Given two geometry objects that potentially touch (geom1 and geom2), generate contact information for them. More...
 
static int collide2 (const OdeGeom geom1, const OdeGeom geom2, object arg, object callback)
 
static OdeJoint getConnectingJoint (const OdeBody body1, const OdeBody body2)
 Returns the joint that connects the given bodies. More...
 
static OdeJointCollection getConnectingJointList (const OdeBody body1, const OdeBody body2)
 Returns a collection of joints connecting the specified bodies. More...
 
static DReal getInfinity ()
 
static int randGetSeed ()
 
static randSetSeed (int s)
 
static OdeGeom spaceToGeom (const OdeSpace space)
 

Member Function Documentation

◆ __init__() [1/2]

__init__ ( )

◆ __init__() [2/2]

__init__ ( const  OdeUtil)

◆ areConnected()

static int areConnected ( const OdeBody  body1,
const OdeBody  body2 
)
static

Returns 1 if the given bodies are connected by a joint, returns 0 otherwise.

◆ areConnectedExcluding()

static int areConnectedExcluding ( const OdeBody  body1,
const OdeBody  body2,
const int  joint_type 
)
static

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.

◆ collide()

static OdeCollisionEntry collide ( const OdeGeom  geom1,
const OdeGeom  geom2,
const short int  max_contacts 
)
static

Given two geometry objects that potentially touch (geom1 and geom2), generate contact information for them.

Returns an OdeCollisionEntry.

◆ collide2()

static int collide2 ( const OdeGeom  geom1,
const OdeGeom  geom2,
object  arg,
object  callback 
)
static

◆ getConnectingJoint()

static OdeJoint getConnectingJoint ( const OdeBody  body1,
const OdeBody  body2 
)
static

Returns the joint that connects the given bodies.

◆ getConnectingJointList()

static OdeJointCollection getConnectingJointList ( const OdeBody  body1,
const OdeBody  body2 
)
static

Returns a collection of joints connecting the specified bodies.

◆ getInfinity()

static DReal getInfinity ( )
static

◆ randGetSeed()

static int randGetSeed ( )
static

◆ randSetSeed()

static randSetSeed ( int  s)
static

◆ spaceToGeom()

static OdeGeom spaceToGeom ( const OdeSpace  space)
static