51 get_joint_type()
const {
52 return dJointGetType(_id);
55 INLINE
void OdeJoint::
56 set_feedback(
bool flag) {
58 if (dJointGetFeedback(_id) != NULL) {
62 dJointSetFeedback(_id, (dJointFeedback*) feedback);
63 }
else if (dJointFeedback* feedback = dJointGetFeedback(_id)) {
64 dJointSetFeedback(_id, NULL);
69 INLINE
void OdeJoint::
71 dJointSetFeedback(_id, feedback);
80 compare_to(
const OdeJoint &other)
const {
81 if (_id != other._id) {
82 return _id < other._id ? -1 : 1;
87 INLINE
bool OdeJoint::
88 operator == (
const OdeJoint &other)
const {
89 return _id == other._id;
dJointID get_id() const
Returns the underlying dJointID.
bool is_empty() const
Returns true if the ID is 0, meaning the OdeJoint does not point to a valid joint.