45get_joint_type()
const {
46 return dJointGetType(_id);
50set_feedback(
bool flag) {
52 if (dJointGetFeedback(_id) !=
nullptr) {
56 dJointSetFeedback(_id, (dJointFeedback*) feedback);
57 }
else if (dJointFeedback* feedback = dJointGetFeedback(_id)) {
58 dJointSetFeedback(_id,
nullptr);
65 dJointSetFeedback(_id, feedback);
74compare_to(
const OdeJoint &other)
const {
75 if (_id != other._id) {
76 return _id < other._id ? -1 : 1;
82operator == (
const OdeJoint &other)
const {
83 return _id == other._id;
bool is_empty() const
Returns true if the ID is 0, meaning the OdeJoint does not point to a valid joint.
dJointID get_id() const
Returns the underlying dJointID.