PHYSICSODE Namespace Reference

Implementation of the PHYSICS interfaces using ODE. More...

Classes
class	RCOdePhysicsEngine
	... More...
class	RCOdePhysicsBody
	... More...
class	RCOdeGeomComponent
	... More...
class	TRCOdeGeomComponent
	... More...
struct	RCSphereGeom
	collision geometry with shape of a sphere More...
struct	RCCuboidGeom
	collision geometry with shape of a cuboid More...
struct	RCPlaneGeom
	plane collision geometry More...
struct	RCRayGeom
	collision geometry with shape of a ray More...
struct	RCCylinderGeom
	collision geometry with shape of a cylinder More...
struct	RCCappedCylinderGeom
	collision geometry with shape of a capped cylinder More...
struct	RCTransformGeom
	transformation collision geometry More...
class	RCNoGeom
	... More...
class	RCOdeJointComponent
	... More...
class	TRCOdeJointComponent
	... More...
struct	RCFixJoint
	Encapsulation of the OpenDE Fix-joint. More...
struct	RCBallSocketJoint
	Encapsulation of the OpenDE Ball-joint. More...
struct	RCHingeJoint
	Encapsulation of the OpenDE Hinge-joint. More...
struct	RCSliderJoint
	Encapsulation of the OpenDE Slider-joint. More...
struct	RCCardanJoint
	Encapsulation of the OpenDE Cardan-joint. More...
struct	RCDoubleHingeJoint
	Encapsulation of the OpenDE Hinge2-joint. More...
Typedefs
typedef dWorldID	TOdeWorldId
	...
typedef dSpaceID	TOdeSpaceId
typedef dBodyID	TOdeBodyId
typedef dGeomID	TOdeGeomId
typedef dJointID	TOdeJointId
typedef dxJointGroup	RSOdeJointGroup
typedef dJointGroupID	TOdeJointGroupId
typedef dVector3	RSOdeVector3
typedef dVector4	RSOdeVector4
typedef dContact	RSOdeContact
typedef dContactGeom	RSOdeContactGeom
typedef dMass	RSOdeMass
typedef dQuaternion	RSOdeQuaternion
Enumerations
enum	TContactFlags {   CF_Mu2 = dContactMu2,   CF_FDir1 = dContactFDir1,   CF_Bounce = dContactBounce,   CF_SoftERP = dContactSoftERP,   CF_SoftCFM = dContactSoftCFM,   CF_Motion1 = dContactMotion1,   CF_Motion2 = dContactMotion2,   CF_Slip1 = dContactSlip1,   CF_Slip2 = dContactSlip2,   CF_Approx0 = dContactApprox0,   CF_Approx1_1 = dContactApprox1_1,   CF_Approx1_2 = dContactApprox1_2,   CF_Approx1 = dContactApprox1 }
Functions
void	SetOdeBodyPose (TOdeBodyId nId, const RCPose &Pose)
RCPose	GetOdeBodyPose (TOdeBodyId nId)
void	SetOdeBodyProperties (TOdeBodyId nId, TReal nMass, const RCVector &CenterOfMass, const RCMatrix &InertiaTensor)
void	SetOdeBodyMass (TOdeBodyId nId, TReal nMass)
void	SetOdeBodyCenterOfMass (TOdeBodyId nId, const RCVector &CenterOfMass)
void	SetOdeBodyInertiaTensor (TOdeBodyId nId, const RCMatrix &InertiaTensor)
void	SetOdeBodyLinVelocity (TOdeBodyId nId, const RCTriple &Vel)
void	SetOdeBodyAngVelocity (TOdeBodyId nId, const RCTriple &Vel)
TReal	GetOdeBodyMass (TOdeBodyId nId)
RCVector	GetOdeBodyCenterOfMass (TOdeBodyId nId)
RCMatrix	GetOdeBodyInertiaTensor (TOdeBodyId nId)
RCTriple	GetOdeBodyLinVelocity (TOdeBodyId nId)
RCTriple	GetOdeBodyAngVelocity (TOdeBodyId nId)
void	SetOdeGeomPose (TOdeGeomId nId, const RCPose &Pose)
RCPose	GetOdeGeomPose (TOdeGeomId nId)
void	OdeBodyAddForce (TOdeBodyId nId, const RCVector &Force)
void	OdeBodyAddTorque (TOdeBodyId nId, const RCVector &Torque)
RCQuaternion DLLINTERFACE	OdeBodyCalcRelOrientation (TOdeBodyId nBody1, TOdeBodyId nBody2)
RCQuaternion DLLINTERFACE	OdeCalcRelOrientation (const RCQuaternion Orientation1, const RCQuaternion Orientation2)
TReal DLLINTERFACE	OdeBodyCalcAngle (TOdeBodyId nBody1, TOdeBodyId nBody2, const RCVector &Axis, const RCQuaternion &InitialRelOrientation)
RCQuaternion	OdeBodyCalcRelOrientation (TOdeBodyId nBody1, TOdeBodyId nBody2)
RCQuaternion	OdeCalcRelOrientation (const RCQuaternion Orientation1, const RCQuaternion Orientation2)
TReal	OdeBodyCalcAngle (TOdeBodyId nBody1, TOdeBodyId nBody2, const RCVector &Axis, const RCQuaternion &InitialRelOrientation)
Variables
const TReal	INFINITY = dInfinity

---

Detailed Description

Implementation of the PHYSICS interfaces using ODE.

...

---