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Static Public Member Functions | Public Attributes | Static Public Attributes | List of all members
OdeUtil Class Reference

Static Public Member Functions

static int are_connected (const OdeBody &body1, const OdeBody &body2)
 Returns 1 if the given bodies are connected by a joint, returns 0 otherwise.
 
static int are_connected_excluding (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.
 
static OdeJoint get_connecting_joint (const OdeBody &body1, const OdeBody &body2)
 Returns the joint that connects the given bodies.
 
static OdeJointCollection get_connecting_joint_list (const OdeBody &body1, const OdeBody &body2)
 Returns a collection of joints connecting the specified bodies.
 
static dReal get_infinity ()
 
static PT (OdeCollisionEntry) collide(const OdeGeom &geom1
 
static int rand_get_seed ()
 
static void rand_set_seed (int s)
 
static OdeGeom space_to_geom (const OdeSpace &space)
 

Public Attributes

static const OdeGeomgeom2
 
static const OdeGeom const short int max_contacts = 150)
 

Static Public Attributes

static dReal OC_infinity = dInfinity
 

Detailed Description

Definition at line 32 of file odeUtil.h.

Member Function Documentation

◆ are_connected()

int OdeUtil::are_connected ( const OdeBody & body1,
const OdeBody & body2 )
static

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

Definition at line 49 of file odeUtil.cxx.

References OdeBody::get_id().

◆ are_connected_excluding()

int OdeUtil::are_connected_excluding ( 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.

Definition at line 62 of file odeUtil.cxx.

References OdeBody::get_id().

◆ get_connecting_joint()

OdeJoint OdeUtil::get_connecting_joint ( const OdeBody & body1,
const OdeBody & body2 )
static

Returns the joint that connects the given bodies.

Definition at line 21 of file odeUtil.cxx.

References OdeBody::get_id().

◆ get_connecting_joint_list()

OdeJointCollection OdeUtil::get_connecting_joint_list ( const OdeBody & body1,
const OdeBody & body2 )
static

Returns a collection of joints connecting the specified bodies.

Definition at line 29 of file odeUtil.cxx.

References OdeBody::get_id().

◆ get_infinity()

static dReal OdeUtil::get_infinity ( )
inlinestatic

Definition at line 54 of file odeUtil.h.

◆ rand_get_seed()

static int OdeUtil::rand_get_seed ( )
inlinestatic

Definition at line 56 of file odeUtil.h.

◆ rand_set_seed()

static void OdeUtil::rand_set_seed ( int s)
inlinestatic

Definition at line 58 of file odeUtil.h.

◆ space_to_geom()

OdeGeom OdeUtil::space_to_geom ( const OdeSpace & space)
static

Definition at line 94 of file odeUtil.cxx.

Member Data Documentation

◆ geom2

const OdeGeom& OdeUtil::geom2

Definition at line 43 of file odeUtil.h.

◆ max_contacts

const OdeGeom const short int OdeUtil::max_contacts = 150)

Definition at line 44 of file odeUtil.h.

◆ OC_infinity

dReal OdeUtil::OC_infinity = dInfinity
static

Definition at line 51 of file odeUtil.h.


The documentation for this class was generated from the following files: