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compiling again after adding AMotor functions

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git-svn-id: svn://anubis/misc/OdeWorld@224 bd8a9e45-a331-0410-811e-c64571078777
This commit is contained in:
josh 2010-01-31 01:29:56 +00:00
parent 3a524744e5
commit a06e6885e2
2 changed files with 32 additions and 0 deletions
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7
OdeWorld.cc
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@ -108,6 +108,13 @@ void OdeWorld::enableAllBodies()
} }
} }
dJointID OdeWorld::createAMotor(dBodyID b1, dBodyID b2)
{
dJointID j = dJointCreateAMotor(m_world, 0);
dJointAttach(j, b1, b2);
return j;
}
void OdeWorld::destroyBody(dBodyID body) void OdeWorld::destroyBody(dBodyID body)
{ {
m_bodies.erase(body); m_bodies.erase(body);

25
OdeWorld.h
View File

@ -72,6 +72,31 @@ class OdeWorld
void step(); void step();
void enableAllBodies(); void enableAllBodies();
dWorldID getWorldID() { return m_world; } dWorldID getWorldID() { return m_world; }
dJointID createAMotor(dBodyID b1, dBodyID b2);
void setAMotorNumAxes(dJointID j, int num_axes)
{
dJointSetAMotorNumAxes(j, num_axes);
}
void setAMotorLoStop(dJointID j, dReal val)
{
dJointSetAMotorParam(j, dParamLoStop, val);
}
void setAMotorHiStop(dJointID j, dReal val)
{
dJointSetAMotorParam(j, dParamHiStop, val);
}
void setAMotorVel(dJointID j, dReal val)
{
dJointSetAMotorParam(j, dParamVel, val);
}
void setAMotorFMax(dJointID j, dReal val)
{
dJointSetAMotorParam(j, dParamFMax, val);
}
void setAMotorBounce(dJointID j, dReal val)
{
dJointSetAMotorParam(j, dParamBounce, val);
}
friend void OdeWorld_collide_callback(void * data, friend void OdeWorld_collide_callback(void * data,
dGeomID o1, dGeomID o2); dGeomID o1, dGeomID o2);