Data Structures | |
struct | dContactGeom |
Describe the contact point between two geoms. More... | |
Functions | |
ODE_API void | dGeomDestroy (dGeomID geom) |
Destroy a geom, removing it from any space. | |
ODE_API void | dGeomSetData (dGeomID geom, void *data) |
Set the user-defined data pointer stored in the geom. | |
ODE_API void * | dGeomGetData (dGeomID geom) |
Get the user-defined data pointer stored in the geom. | |
ODE_API void | dGeomSetBody (dGeomID geom, dBodyID body) |
Set the body associated with a placeable geom. | |
ODE_API dBodyID | dGeomGetBody (dGeomID geom) |
Get the body associated with a placeable geom. | |
ODE_API void | dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z) |
Set the position vector of a placeable geom. | |
ODE_API void | dGeomSetRotation (dGeomID geom, const dMatrix3 R) |
Set the rotation matrix of a placeable geom. | |
ODE_API void | dGeomSetQuaternion (dGeomID geom, const dQuaternion Q) |
Set the rotation of a placeable geom. | |
ODE_API const dReal * | dGeomGetPosition (dGeomID geom) |
Get the position vector of a placeable geom. | |
ODE_API const dReal * | dGeomGetRotation (dGeomID geom) |
Get the rotation matrix of a placeable geom. | |
ODE_API void | dGeomGetQuaternion (dGeomID geom, dQuaternion result) |
Get the rotation quaternion of a placeable geom. | |
ODE_API void | dGeomGetAABB (dGeomID geom, dReal aabb[6]) |
Return the axis-aligned bounding box. | |
ODE_API int | dGeomIsSpace (dGeomID geom) |
Determing if a geom is a space. | |
ODE_API dSpaceID | dGeomGetSpace (dGeomID) |
Query for the space containing a particular geom. | |
ODE_API int | dGeomGetClass (dGeomID geom) |
Given a geom, this returns its class. | |
ODE_API void | dGeomSetCategoryBits (dGeomID geom, unsigned long bits) |
Set the "category" bitfield for the given geom. | |
ODE_API void | dGeomSetCollideBits (dGeomID geom, unsigned long bits) |
Set the "collide" bitfield for the given geom. | |
ODE_API unsigned long | dGeomGetCategoryBits (dGeomID) |
Get the "category" bitfield for the given geom. | |
ODE_API unsigned long | dGeomGetCollideBits (dGeomID) |
Get the "collide" bitfield for the given geom. | |
ODE_API void | dGeomEnable (dGeomID geom) |
Enable a geom. | |
ODE_API void | dGeomDisable (dGeomID geom) |
Disable a geom. | |
ODE_API int | dGeomIsEnabled (dGeomID geom) |
Check to see if a geom is enabled. | |
ODE_API void | dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z) |
Set the local offset position of a geom from its body. | |
ODE_API void | dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R) |
Set the local offset rotation matrix of a geom from its body. | |
ODE_API void | dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q) |
Set the local offset rotation of a geom from its body. | |
ODE_API void | dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z) |
Set the offset position of a geom from its body. | |
ODE_API void | dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R) |
Set the offset rotation of a geom from its body. | |
ODE_API void | dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion) |
Set the offset rotation of a geom from its body. | |
ODE_API void | dGeomClearOffset (dGeomID geom) |
Clear any offset from the geom. | |
ODE_API int | dGeomIsOffset (dGeomID geom) |
Check to see whether the geom has an offset. | |
ODE_API const dReal * | dGeomGetOffsetPosition (dGeomID geom) |
Get the offset position vector of a geom. | |
ODE_API const dReal * | dGeomGetOffsetRotation (dGeomID geom) |
Get the offset position vector of a geom. | |
ODE_API void | dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result) |
Get the offset rotation quaternion of a geom. |
Using ODE's collision detection is optional - an alternative collision detection system can be used as long as it can supply the right kinds of contact information.
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Clear any offset from the geom. If the geom has an offset, it is eliminated and the geom is repositioned at the body's position. If the geom has no offset, this function does nothing. This is more efficient than calling dGeomSetOffsetPosition(zero) and dGeomSetOffsetRotation(identiy), because this function actually eliminates the offset, rather than leaving it as the identity transform.
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Destroy a geom, removing it from any space. Destroy a geom, removing it from any space it is in first. This one function destroys a geom of any type, but to create a geom you must call a creation function for that type. When a space is destroyed, if its cleanup mode is 1 (the default) then all the geoms in that space are automatically destroyed as well.
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Disable a geom. Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, although they can still be members of a space. New geoms are created in the enabled state.
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Enable a geom. Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, although they can still be members of a space. New geoms are created in the enabled state.
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Return the axis-aligned bounding box. Return in aabb an axis aligned bounding box that surrounds the given geom. The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the geom is a space, a bounding box that surrounds all contained geoms is returned. This function may return a pre-computed cached bounding box, if it can determine that the geom has not moved since the last time the bounding box was computed.
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Get the body associated with a placeable geom.
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Get the "category" bitfield for the given geom.
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Given a geom, this returns its class. The ODE classes are:
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Get the "collide" bitfield for the given geom.
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Get the user-defined data pointer stored in the geom.
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Get the offset position vector of a geom. Returns the positional offset of the geom in local coordinates. If the geom has no offset, this function returns the zero vector.
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Get the offset rotation quaternion of a geom. Returns the rotation offset of the geom as a quaternion. If the geom has no offset, the identity quaternion is returned.
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Get the offset position vector of a geom. Returns the positional offset of the geom in local coordinates. If the geom has no offset, this function returns the zero vector.
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Get the position vector of a placeable geom. If the geom is attached to a body, the body's position will be returned. Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
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Get the rotation quaternion of a placeable geom. If the geom is attached to a body, the body's quaternion will be returned. Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
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Get the rotation matrix of a placeable geom. If the geom is attached to a body, the body's rotation will be returned. Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
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Query for the space containing a particular geom.
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Check to see if a geom is enabled. Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, although they can still be members of a space. New geoms are created in the enabled state.
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Check to see whether the geom has an offset. This function will return non-zero if the offset has been created. Note that there is a difference between a geom with no offset, and a geom with an offset that is the identity transform. In the latter case, although the observed behaviour is identical, there is a unnecessary computation involved because the geom will be applying the transform whenever it needs to recalculate its world position.
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Determing if a geom is a space.
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Set the body associated with a placeable geom. Setting a body on a geom automatically combines the position vector and rotation matrix of the body and geom, so that setting the position or orientation of one will set the value for both objects. Setting a body ID of zero gives the geom its own position and rotation, independent from any body. If the geom was previously connected to a body then its new independent position/rotation is set to the current position/rotation of the body. Calling these functions on a non-placeable geom results in a runtime error in the debug build of ODE.
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Set the "category" bitfield for the given geom. The category bitfield is used by spaces to govern which geoms will interact with each other. The bitfield is guaranteed to be at least 32 bits wide. The default category values for newly created geoms have all bits set.
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Set the "collide" bitfield for the given geom. The collide bitfield is used by spaces to govern which geoms will interact with each other. The bitfield is guaranteed to be at least 32 bits wide. The default category values for newly created geoms have all bits set.
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Set the user-defined data pointer stored in the geom.
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Set the local offset position of a geom from its body. Sets the geom's positional offset in local coordinates. After this call, the geom will be at a new position determined from the body's position and the offset. The geom must be attached to a body. If the geom did not have an offset, it is automatically created.
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Set the local offset rotation of a geom from its body. Sets the geom's rotational offset in local coordinates. After this call, the geom will be at a new position determined from the body's position and the offset. The geom must be attached to a body. If the geom did not have an offset, it is automatically created.
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Set the local offset rotation matrix of a geom from its body. Sets the geom's rotational offset in local coordinates. After this call, the geom will be at a new position determined from the body's position and the offset. The geom must be attached to a body. If the geom did not have an offset, it is automatically created.
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Set the offset position of a geom from its body. Sets the geom's positional offset to move it to the new world coordinates. After this call, the geom will be at the world position passed in, and the offset will be the difference from the current body position. The geom must be attached to a body. If the geom did not have an offset, it is automatically created.
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Set the offset rotation of a geom from its body. Sets the geom's rotational offset to orient it to the new world rotation matrix. After this call, the geom will be at the world orientation passed in, and the offset will be the difference from the current body orientation. The geom must be attached to a body. If the geom did not have an offset, it is automatically created.
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Set the offset rotation of a geom from its body. Sets the geom's rotational offset to orient it to the new world rotation matrix. After this call, the geom will be at the world orientation passed in, and the offset will be the difference from the current body orientation. The geom must be attached to a body. If the geom did not have an offset, it is automatically created.
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Set the position vector of a placeable geom. If the geom is attached to a body, the body's position will also be changed. Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
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Set the rotation of a placeable geom. If the geom is attached to a body, the body's rotation will also be changed. Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
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Set the rotation matrix of a placeable geom. If the geom is attached to a body, the body's rotation will also be changed. Calling this function on a non-placeable geom results in a runtime error in the debug build of ODE.
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