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odeUtil.h
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1/**
2 * PANDA 3D SOFTWARE
3 * Copyright (c) Carnegie Mellon University. All rights reserved.
4 *
5 * All use of this software is subject to the terms of the revised BSD
6 * license. You should have received a copy of this license along
7 * with this source code in a file named "LICENSE."
8 *
9 * @file odeUtil.h
10 * @author joswilso
11 * @date 2006-12-27
12 */
13
14#ifndef ODEUTIL_H
15#define ODEUTIL_H
16
17#include "pandabase.h"
18#include "typedObject.h"
19#include "luse.h"
20
21#include "ode_includes.h"
22#include "odeJointCollection.h"
23#include "odeCollisionEntry.h"
24
25 class OdeBody;
26 class OdeJoint;
27 class OdeGeom;
28
29/**
30 *
31 */
32 class EXPCL_PANDAODE OdeUtil {
33PUBLISHED:
34 static OdeJoint get_connecting_joint(const OdeBody &body1,
35 const OdeBody &body2);
36 static OdeJointCollection get_connecting_joint_list(const OdeBody &body1,
37 const OdeBody &body2);
38 static int are_connected(const OdeBody &body1,
39 const OdeBody &body2);
40 static int are_connected_excluding(const OdeBody &body1,
41 const OdeBody &body2,
42 const int joint_type);
43 static PT(OdeCollisionEntry) collide(const OdeGeom &geom1, const OdeGeom &geom2,
44 const short int max_contacts = 150);
45
46 EXTENSION(static int collide2(const OdeGeom &geom1, const OdeGeom &geom2,
47 PyObject* arg, PyObject* callback));
48
49 static OdeGeom space_to_geom(const OdeSpace &space);
50
51 static dReal OC_infinity;
52
53 // RAU we can't access OC_infinity as constants are not exposed in python
54 static dReal get_infinity() {return OC_infinity;};
55
56 static int rand_get_seed() {return dRandGetSeed();};
57
58 static void rand_set_seed(int s) {dRandSetSeed(s);};
59};
60
61#endif
OdeBody
Definition odeBody.h:32
OdeCollisionEntry
A class used to hold information about a collision that has occurred.
Definition odeCollisionEntry.h:27
OdeGeom
Definition odeGeom.h:45
OdeJointCollection
Definition odeJointCollection.h:22
OdeJoint
Definition odeJoint.h:51
OdeSpace
Definition odeSpace.h:37
OdeUtil
Definition odeUtil.h:32
OdeUtil::get_connecting_joint_list
static OdeJointCollection get_connecting_joint_list(const OdeBody &body1, const OdeBody &body2)
Returns a collection of joints connecting the specified bodies.
Definition odeUtil.cxx:30
OdeUtil::are_connected
static int are_connected(const OdeBody &body1, const OdeBody &body2)
Returns 1 if the given bodies are connected by a joint, returns 0 otherwise.
Definition odeUtil.cxx:50
OdeUtil::get_connecting_joint
static OdeJoint get_connecting_joint(const OdeBody &body1, const OdeBody &body2)
Returns the joint that connects the given bodies.
Definition odeUtil.cxx:22
OdeUtil::are_connected_excluding
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,...
Definition odeUtil.cxx:63
luse.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
odeCollisionEntry.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
odeJointCollection.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
ode_includes.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
pandabase.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
typedObject.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.