38 INLINE
void OdeWorld::
39 set_gravity(dReal x, dReal y, dReal z) {
40 dWorldSetGravity(_id, x, y, z);
43 INLINE
void OdeWorld::
45 dWorldSetGravity(_id, vec[0], vec[1], vec[2]);
51 dWorldGetGravity(_id, gravity);
53 return LVecBase3f(gravity[0],gravity[1],gravity[2]);
56 INLINE
void OdeWorld::
58 dWorldSetERP(_id, erp);
61 INLINE dReal OdeWorld::
63 return dWorldGetERP(_id);
66 INLINE
void OdeWorld::
68 dWorldSetCFM(_id, cfm);
71 INLINE dReal OdeWorld::
73 return dWorldGetCFM(_id);
76 INLINE
void OdeWorld::
77 step(dReal stepsize) {
78 dWorldStep(_id, stepsize);
82 impulse_to_force(dReal stepsize, \
83 dReal ix, dReal iy, dReal iz){
85 dWorldImpulseToForce(_id,
89 return LVecBase3f(force[0], force[1], force[2]);
93 impulse_to_force(dReal stepsize, \
96 dWorldImpulseToForce(_id,
98 impulse[0], impulse[1], impulse[2],
100 return LVecBase3f(force[0], force[1], force[2]);
103 INLINE
void OdeWorld::
104 quick_step(dReal stepsize) {
105 dWorldQuickStep(_id, stepsize);
108 INLINE
void OdeWorld::
109 set_quick_step_num_iterations(
int num) {
110 dWorldSetQuickStepNumIterations(_id, num);
113 INLINE
int OdeWorld::
114 get_quick_step_num_iterations()
const {
115 return dWorldGetQuickStepNumIterations(_id);
118 INLINE
void OdeWorld::
119 set_quick_step_w(dReal over_relaxation) {
120 dWorldSetQuickStepW(_id, over_relaxation);
123 INLINE dReal OdeWorld::
124 get_quick_step_w()
const {
125 return dWorldGetQuickStepW(_id);
128 INLINE
void OdeWorld::
129 set_contact_max_correcting_vel(dReal vel) {
130 dWorldSetContactMaxCorrectingVel(_id, vel);
133 INLINE dReal OdeWorld::
134 get_contact_max_correcting_vel()
const {
135 return dWorldGetContactMaxCorrectingVel(_id);
138 INLINE
void OdeWorld::
139 set_contact_surface_layer(dReal depth) {
140 dWorldSetContactSurfaceLayer(_id, depth);
143 INLINE dReal OdeWorld::
144 get_contact_surface_layer()
const {
145 return dWorldGetContactSurfaceLayer(_id);
148 INLINE dReal OdeWorld::
149 get_auto_disable_linear_threshold()
const {
150 return dWorldGetAutoDisableLinearThreshold(_id);
153 INLINE
void OdeWorld::
154 set_auto_disable_linear_threshold(dReal linear_threshold) {
155 dWorldSetAutoDisableLinearThreshold(_id, linear_threshold);
158 INLINE dReal OdeWorld::
159 get_auto_disable_angular_threshold()
const {
160 return dWorldGetAutoDisableAngularThreshold(_id);
163 INLINE
void OdeWorld::
164 set_auto_disable_angular_threshold(dReal angular_threshold) {
165 dWorldSetAutoDisableAngularThreshold(_id, angular_threshold);
168 INLINE
int OdeWorld::
169 get_auto_disable_steps()
const {
170 return dWorldGetAutoDisableSteps(_id);
173 INLINE
void OdeWorld::
174 set_auto_disable_steps(
int steps) {
175 dWorldSetAutoDisableSteps(_id, steps);
178 INLINE dReal OdeWorld::
179 get_auto_disable_time()
const {
180 return dWorldGetAutoDisableTime(_id);
183 INLINE
void OdeWorld::
184 set_auto_disable_time(dReal time) {
185 dWorldSetAutoDisableTime(_id, time);
188 INLINE
int OdeWorld::
189 get_auto_disable_flag()
const {
190 return dWorldGetAutoDisableFlag(_id);
193 INLINE
void OdeWorld::
194 set_auto_disable_flag(
int do_auto_disable) {
195 dWorldSetAutoDisableFlag(_id, do_auto_disable);
198 INLINE
int OdeWorld::
199 compare_to(
const OdeWorld &other)
const {
200 if (_id != other._id) {
201 return _id < other._id ? -1 : 1;
This is the base class for all three-component vectors and points.
dWorldID get_id() const
Returns the underlying dWorldID.
bool is_empty() const
Returns true if the ID is 0, meaning the OdeWorld does not point to a valid world.