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00026 #ifndef _ODE_ODECPP_H_
00027 #define _ODE_ODECPP_H_
00028 #ifdef __cplusplus
00029
00030 #include <ode/error.h>
00031
00032
00033 class dWorld {
00034 dWorldID _id;
00035
00036
00037 dWorld (const dWorld &);
00038 void operator= (const dWorld &);
00039
00040 public:
00041 dWorld()
00042 { _id = dWorldCreate(); }
00043 ~dWorld()
00044 { dWorldDestroy (_id); }
00045
00046 dWorldID id() const
00047 { return _id; }
00048 operator dWorldID() const
00049 { return _id; }
00050
00051 void setGravity (dReal x, dReal y, dReal z)
00052 { dWorldSetGravity (_id,x,y,z); }
00053 void getGravity (dVector3 g) const
00054 { dWorldGetGravity (_id,g); }
00055
00056 void setERP (dReal erp)
00057 { dWorldSetERP(_id, erp); }
00058 dReal getERP() const
00059 { return dWorldGetERP(_id); }
00060
00061 void setCFM (dReal cfm)
00062 { dWorldSetCFM(_id, cfm); }
00063 dReal getCFM() const
00064 { return dWorldGetCFM(_id); }
00065
00066 void step (dReal stepsize)
00067 { dWorldStep (_id,stepsize); }
00068
00069 void stepFast1 (dReal stepsize, int maxiterations)
00070 { dWorldStepFast1 (_id,stepsize,maxiterations); }
00071 void setAutoEnableDepthSF1(dWorldID, int depth)
00072 { dWorldSetAutoEnableDepthSF1 (_id, depth); }
00073 int getAutoEnableDepthSF1(dWorldID)
00074 { return dWorldGetAutoEnableDepthSF1 (_id); }
00075
00076 void setAutoDisableLinearThreshold (dReal threshold)
00077 { dWorldSetAutoDisableLinearThreshold (_id,threshold); }
00078 dReal getAutoDisableLinearThreshold()
00079 { return dWorldGetAutoDisableLinearThreshold (_id); }
00080 void setAutoDisableAngularThreshold (dReal threshold)
00081 { dWorldSetAutoDisableAngularThreshold (_id,threshold); }
00082 dReal getAutoDisableAngularThreshold()
00083 { return dWorldGetAutoDisableAngularThreshold (_id); }
00084 void setAutoDisableSteps (int steps)
00085 { dWorldSetAutoDisableSteps (_id,steps); }
00086 int getAutoDisableSteps()
00087 { return dWorldGetAutoDisableSteps (_id); }
00088 void setAutoDisableTime (dReal time)
00089 { dWorldSetAutoDisableTime (_id,time); }
00090 dReal getAutoDisableTime()
00091 { return dWorldGetAutoDisableTime (_id); }
00092 void setAutoDisableFlag (int do_auto_disable)
00093 { dWorldSetAutoDisableFlag (_id,do_auto_disable); }
00094 int getAutoDisableFlag()
00095 { return dWorldGetAutoDisableFlag (_id); }
00096
00097 void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
00098 dVector3 force)
00099 { dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); }
00100 };
00101
00102
00103 class dBody {
00104 dBodyID _id;
00105
00106
00107 dBody (const dBody &);
00108 void operator= (const dBody &);
00109
00110 public:
00111 dBody()
00112 { _id = 0; }
00113 dBody (dWorldID world)
00114 { _id = dBodyCreate (world); }
00115 ~dBody()
00116 { if (_id) dBodyDestroy (_id); }
00117
00118 void create (dWorldID world) {
00119 if (_id) dBodyDestroy (_id);
00120 _id = dBodyCreate (world);
00121 }
00122
00123 dBodyID id() const
00124 { return _id; }
00125 operator dBodyID() const
00126 { return _id; }
00127
00128 void setData (void *data)
00129 { dBodySetData (_id,data); }
00130 void *getData() const
00131 { return dBodyGetData (_id); }
00132
00133 void setPosition (dReal x, dReal y, dReal z)
00134 { dBodySetPosition (_id,x,y,z); }
00135 void setRotation (const dMatrix3 R)
00136 { dBodySetRotation (_id,R); }
00137 void setQuaternion (const dQuaternion q)
00138 { dBodySetQuaternion (_id,q); }
00139 void setLinearVel (dReal x, dReal y, dReal z)
00140 { dBodySetLinearVel (_id,x,y,z); }
00141 void setAngularVel (dReal x, dReal y, dReal z)
00142 { dBodySetAngularVel (_id,x,y,z); }
00143
00144 const dReal * getPosition() const
00145 { return dBodyGetPosition (_id); }
00146 const dReal * getRotation() const
00147 { return dBodyGetRotation (_id); }
00148 const dReal * getQuaternion() const
00149 { return dBodyGetQuaternion (_id); }
00150 const dReal * getLinearVel() const
00151 { return dBodyGetLinearVel (_id); }
00152 const dReal * getAngularVel() const
00153 { return dBodyGetAngularVel (_id); }
00154
00155 void setMass (const dMass *mass)
00156 { dBodySetMass (_id,mass); }
00157 void getMass (dMass *mass) const
00158 { dBodyGetMass (_id,mass); }
00159
00160 void addForce (dReal fx, dReal fy, dReal fz)
00161 { dBodyAddForce (_id, fx, fy, fz); }
00162 void addTorque (dReal fx, dReal fy, dReal fz)
00163 { dBodyAddTorque (_id, fx, fy, fz); }
00164 void addRelForce (dReal fx, dReal fy, dReal fz)
00165 { dBodyAddRelForce (_id, fx, fy, fz); }
00166 void addRelTorque (dReal fx, dReal fy, dReal fz)
00167 { dBodyAddRelTorque (_id, fx, fy, fz); }
00168 void addForceAtPos (dReal fx, dReal fy, dReal fz,
00169 dReal px, dReal py, dReal pz)
00170 { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
00171 void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
00172 dReal px, dReal py, dReal pz)
00173 { dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
00174 void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
00175 dReal px, dReal py, dReal pz)
00176 { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
00177 void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
00178 dReal px, dReal py, dReal pz)
00179 { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
00180
00181 const dReal * getForce() const
00182 { return dBodyGetForce(_id); }
00183 const dReal * getTorque() const
00184 { return dBodyGetTorque(_id); }
00185 void setForce (dReal x, dReal y, dReal z)
00186 { dBodySetForce (_id,x,y,z); }
00187 void setTorque (dReal x, dReal y, dReal z)
00188 { dBodySetTorque (_id,x,y,z); }
00189
00190 void enable()
00191 { dBodyEnable (_id); }
00192 void disable()
00193 { dBodyDisable (_id); }
00194 int isEnabled() const
00195 { return dBodyIsEnabled (_id); }
00196
00197 void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
00198 { dBodyGetRelPointPos (_id, px, py, pz, result); }
00199 void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
00200 { dBodyGetRelPointVel (_id, px, py, pz, result); }
00201 void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
00202 { dBodyGetPointVel (_id,px,py,pz,result); }
00203 void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
00204 { dBodyGetPosRelPoint (_id,px,py,pz,result); }
00205 void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
00206 { dBodyVectorToWorld (_id,px,py,pz,result); }
00207 void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
00208 { dBodyVectorFromWorld (_id,px,py,pz,result); }
00209
00210 void setFiniteRotationMode (int mode)
00211 { dBodySetFiniteRotationMode (_id, mode); }
00212 void setFiniteRotationAxis (dReal x, dReal y, dReal z)
00213 { dBodySetFiniteRotationAxis (_id, x, y, z); }
00214
00215 int getFiniteRotationMode() const
00216 { return dBodyGetFiniteRotationMode (_id); }
00217 void getFiniteRotationAxis (dVector3 result) const
00218 { dBodyGetFiniteRotationAxis (_id, result); }
00219
00220 int getNumJoints() const
00221 { return dBodyGetNumJoints (_id); }
00222 dJointID getJoint (int index) const
00223 { return dBodyGetJoint (_id, index); }
00224
00225 void setGravityMode (int mode)
00226 { dBodySetGravityMode (_id,mode); }
00227 int getGravityMode() const
00228 { return dBodyGetGravityMode (_id); }
00229
00230 int isConnectedTo (dBodyID body) const
00231 { return dAreConnected (_id, body); }
00232
00233 void setAutoDisableLinearThreshold (dReal threshold)
00234 { dBodySetAutoDisableLinearThreshold (_id,threshold); }
00235 dReal getAutoDisableLinearThreshold()
00236 { return dBodyGetAutoDisableLinearThreshold (_id); }
00237 void setAutoDisableAngularThreshold (dReal threshold)
00238 { dBodySetAutoDisableAngularThreshold (_id,threshold); }
00239 dReal getAutoDisableAngularThreshold()
00240 { return dBodyGetAutoDisableAngularThreshold (_id); }
00241 void setAutoDisableSteps (int steps)
00242 { dBodySetAutoDisableSteps (_id,steps); }
00243 int getAutoDisableSteps()
00244 { return dBodyGetAutoDisableSteps (_id); }
00245 void setAutoDisableTime (dReal time)
00246 { dBodySetAutoDisableTime (_id,time); }
00247 dReal getAutoDisableTime()
00248 { return dBodyGetAutoDisableTime (_id); }
00249 void setAutoDisableFlag (int do_auto_disable)
00250 { dBodySetAutoDisableFlag (_id,do_auto_disable); }
00251 int getAutoDisableFlag()
00252 { return dBodyGetAutoDisableFlag (_id); }
00253 };
00254
00255
00256 class dJointGroup {
00257 dJointGroupID _id;
00258
00259
00260 dJointGroup (const dJointGroup &);
00261 void operator= (const dJointGroup &);
00262
00263 public:
00264 dJointGroup (int dummy_arg=0)
00265 { _id = dJointGroupCreate (0); }
00266 ~dJointGroup()
00267 { dJointGroupDestroy (_id); }
00268 void create (int dummy_arg=0) {
00269 if (_id) dJointGroupDestroy (_id);
00270 _id = dJointGroupCreate (0);
00271 }
00272
00273 dJointGroupID id() const
00274 { return _id; }
00275 operator dJointGroupID() const
00276 { return _id; }
00277
00278 void empty()
00279 { dJointGroupEmpty (_id); }
00280 };
00281
00282
00283 class dJoint {
00284 private:
00285
00286 dJoint (const dJoint &) ;
00287 void operator= (const dJoint &);
00288
00289 protected:
00290 dJointID _id;
00291
00292 public:
00293 dJoint()
00294 { _id = 0; }
00295 ~dJoint()
00296 { if (_id) dJointDestroy (_id); }
00297
00298 dJointID id() const
00299 { return _id; }
00300 operator dJointID() const
00301 { return _id; }
00302
00303 void attach (dBodyID body1, dBodyID body2)
00304 { dJointAttach (_id, body1, body2); }
00305
00306 void setData (void *data)
00307 { dJointSetData (_id, data); }
00308 void *getData() const
00309 { return dJointGetData (_id); }
00310
00311 int getType() const
00312 { return dJointGetType (_id); }
00313
00314 dBodyID getBody (int index) const
00315 { return dJointGetBody (_id, index); }
00316
00317 void setFeedback(dJointFeedback *fb)
00318 { dJointSetFeedback(_id, fb); }
00319 dJointFeedback *getFeedback() const
00320 { return dJointGetFeedback(_id); }
00321 };
00322
00323
00324 class dBallJoint : public dJoint {
00325 private:
00326
00327 dBallJoint (const dBallJoint &);
00328 void operator= (const dBallJoint &);
00329
00330 public:
00331 dBallJoint() { }
00332 dBallJoint (dWorldID world, dJointGroupID group=0)
00333 { _id = dJointCreateBall (world, group); }
00334
00335 void create (dWorldID world, dJointGroupID group=0) {
00336 if (_id) dJointDestroy (_id);
00337 _id = dJointCreateBall (world, group);
00338 }
00339
00340 void setAnchor (dReal x, dReal y, dReal z)
00341 { dJointSetBallAnchor (_id, x, y, z); }
00342 void getAnchor (dVector3 result) const
00343 { dJointGetBallAnchor (_id, result); }
00344 void getAnchor2 (dVector3 result) const
00345 { dJointGetBallAnchor2 (_id, result); }
00346 } ;
00347
00348
00349 class dHingeJoint : public dJoint {
00350
00351 dHingeJoint (const dHingeJoint &);
00352 void operator = (const dHingeJoint &);
00353
00354 public:
00355 dHingeJoint() { }
00356 dHingeJoint (dWorldID world, dJointGroupID group=0)
00357 { _id = dJointCreateHinge (world, group); }
00358
00359 void create (dWorldID world, dJointGroupID group=0) {
00360 if (_id) dJointDestroy (_id);
00361 _id = dJointCreateHinge (world, group);
00362 }
00363
00364 void setAnchor (dReal x, dReal y, dReal z)
00365 { dJointSetHingeAnchor (_id, x, y, z); }
00366 void getAnchor (dVector3 result) const
00367 { dJointGetHingeAnchor (_id, result); }
00368 void getAnchor2 (dVector3 result) const
00369 { dJointGetHingeAnchor2 (_id, result); }
00370
00371 void setAxis (dReal x, dReal y, dReal z)
00372 { dJointSetHingeAxis (_id, x, y, z); }
00373 void getAxis (dVector3 result) const
00374 { dJointGetHingeAxis (_id, result); }
00375
00376 dReal getAngle() const
00377 { return dJointGetHingeAngle (_id); }
00378 dReal getAngleRate() const
00379 { return dJointGetHingeAngleRate (_id); }
00380
00381 void setParam (int parameter, dReal value)
00382 { dJointSetHingeParam (_id, parameter, value); }
00383 dReal getParam (int parameter) const
00384 { return dJointGetHingeParam (_id, parameter); }
00385
00386 void addTorque (dReal torque)
00387 { dJointAddHingeTorque(_id, torque); }
00388 };
00389
00390
00391 class dSliderJoint : public dJoint {
00392
00393 dSliderJoint (const dSliderJoint &);
00394 void operator = (const dSliderJoint &);
00395
00396 public:
00397 dSliderJoint() { }
00398 dSliderJoint (dWorldID world, dJointGroupID group=0)
00399 { _id = dJointCreateSlider (world, group); }
00400
00401 void create (dWorldID world, dJointGroupID group=0) {
00402 if (_id) dJointDestroy (_id);
00403 _id = dJointCreateSlider (world, group);
00404 }
00405
00406 void setAxis (dReal x, dReal y, dReal z)
00407 { dJointSetSliderAxis (_id, x, y, z); }
00408 void getAxis (dVector3 result) const
00409 { dJointGetSliderAxis (_id, result); }
00410
00411 dReal getPosition() const
00412 { return dJointGetSliderPosition (_id); }
00413 dReal getPositionRate() const
00414 { return dJointGetSliderPositionRate (_id); }
00415
00416 void setParam (int parameter, dReal value)
00417 { dJointSetSliderParam (_id, parameter, value); }
00418 dReal getParam (int parameter) const
00419 { return dJointGetSliderParam (_id, parameter); }
00420
00421 void addForce (dReal force)
00422 { dJointAddSliderForce(_id, force); }
00423 };
00424
00425
00426 class dUniversalJoint : public dJoint {
00427
00428 dUniversalJoint (const dUniversalJoint &);
00429 void operator = (const dUniversalJoint &);
00430
00431 public:
00432 dUniversalJoint() { }
00433 dUniversalJoint (dWorldID world, dJointGroupID group=0)
00434 { _id = dJointCreateUniversal (world, group); }
00435
00436 void create (dWorldID world, dJointGroupID group=0) {
00437 if (_id) dJointDestroy (_id);
00438 _id = dJointCreateUniversal (world, group);
00439 }
00440
00441 void setAnchor (dReal x, dReal y, dReal z)
00442 { dJointSetUniversalAnchor (_id, x, y, z); }
00443 void setAxis1 (dReal x, dReal y, dReal z)
00444 { dJointSetUniversalAxis1 (_id, x, y, z); }
00445 void setAxis2 (dReal x, dReal y, dReal z)
00446 { dJointSetUniversalAxis2 (_id, x, y, z); }
00447 void setParam (int parameter, dReal value)
00448 { dJointSetUniversalParam (_id, parameter, value); }
00449
00450 void getAnchor (dVector3 result) const
00451 { dJointGetUniversalAnchor (_id, result); }
00452 void getAnchor2 (dVector3 result) const
00453 { dJointGetUniversalAnchor2 (_id, result); }
00454 void getAxis1 (dVector3 result) const
00455 { dJointGetUniversalAxis1 (_id, result); }
00456 void getAxis2 (dVector3 result) const
00457 { dJointGetUniversalAxis2 (_id, result); }
00458 dReal getParam (int parameter) const
00459 { return dJointGetUniversalParam (_id, parameter); }
00460 dReal getAngle1() const
00461 { return dJointGetUniversalAngle1 (_id); }
00462 dReal getAngle1Rate() const
00463 { return dJointGetUniversalAngle1Rate (_id); }
00464 dReal getAngle2() const
00465 { return dJointGetUniversalAngle2 (_id); }
00466 dReal getAngle2Rate() const
00467 { return dJointGetUniversalAngle2Rate (_id); }
00468
00469 void addTorques (dReal torque1, dReal torque2)
00470 { dJointAddUniversalTorques(_id, torque1, torque2); }
00471 };
00472
00473
00474 class dHinge2Joint : public dJoint {
00475
00476 dHinge2Joint (const dHinge2Joint &);
00477 void operator = (const dHinge2Joint &);
00478
00479 public:
00480 dHinge2Joint() { }
00481 dHinge2Joint (dWorldID world, dJointGroupID group=0)
00482 { _id = dJointCreateHinge2 (world, group); }
00483
00484 void create (dWorldID world, dJointGroupID group=0) {
00485 if (_id) dJointDestroy (_id);
00486 _id = dJointCreateHinge2 (world, group);
00487 }
00488
00489 void setAnchor (dReal x, dReal y, dReal z)
00490 { dJointSetHinge2Anchor (_id, x, y, z); }
00491 void setAxis1 (dReal x, dReal y, dReal z)
00492 { dJointSetHinge2Axis1 (_id, x, y, z); }
00493 void setAxis2 (dReal x, dReal y, dReal z)
00494 { dJointSetHinge2Axis2 (_id, x, y, z); }
00495
00496 void getAnchor (dVector3 result) const
00497 { dJointGetHinge2Anchor (_id, result); }
00498 void getAnchor2 (dVector3 result) const
00499 { dJointGetHinge2Anchor2 (_id, result); }
00500 void getAxis1 (dVector3 result) const
00501 { dJointGetHinge2Axis1 (_id, result); }
00502 void getAxis2 (dVector3 result) const
00503 { dJointGetHinge2Axis2 (_id, result); }
00504
00505 dReal getAngle1() const
00506 { return dJointGetHinge2Angle1 (_id); }
00507 dReal getAngle1Rate() const
00508 { return dJointGetHinge2Angle1Rate (_id); }
00509 dReal getAngle2Rate() const
00510 { return dJointGetHinge2Angle2Rate (_id); }
00511
00512 void setParam (int parameter, dReal value)
00513 { dJointSetHinge2Param (_id, parameter, value); }
00514 dReal getParam (int parameter) const
00515 { return dJointGetHinge2Param (_id, parameter); }
00516
00517 void addTorques(dReal torque1, dReal torque2)
00518 { dJointAddHinge2Torques(_id, torque1, torque2); }
00519 };
00520
00521
00522 class dFixedJoint : public dJoint {
00523
00524 dFixedJoint (const dFixedJoint &);
00525 void operator = (const dFixedJoint &);
00526
00527 public:
00528 dFixedJoint() { }
00529 dFixedJoint (dWorldID world, dJointGroupID group=0)
00530 { _id = dJointCreateFixed (world, group); }
00531
00532 void create (dWorldID world, dJointGroupID group=0) {
00533 if (_id) dJointDestroy (_id);
00534 _id = dJointCreateFixed (world, group);
00535 }
00536
00537 void set()
00538 { dJointSetFixed (_id); }
00539 };
00540
00541
00542 class dContactJoint : public dJoint {
00543
00544 dContactJoint (const dContactJoint &);
00545 void operator = (const dContactJoint &);
00546
00547 public:
00548 dContactJoint() { }
00549 dContactJoint (dWorldID world, dJointGroupID group, dContact *contact)
00550 { _id = dJointCreateContact (world, group, contact); }
00551
00552 void create (dWorldID world, dJointGroupID group, dContact *contact) {
00553 if (_id) dJointDestroy (_id);
00554 _id = dJointCreateContact (world, group, contact);
00555 }
00556 };
00557
00558
00559 class dNullJoint : public dJoint {
00560
00561 dNullJoint (const dNullJoint &);
00562 void operator = (const dNullJoint &);
00563
00564 public:
00565 dNullJoint() { }
00566 dNullJoint (dWorldID world, dJointGroupID group=0)
00567 { _id = dJointCreateNull (world, group); }
00568
00569 void create (dWorldID world, dJointGroupID group=0) {
00570 if (_id) dJointDestroy (_id);
00571 _id = dJointCreateNull (world, group);
00572 }
00573 };
00574
00575
00576 class dAMotorJoint : public dJoint {
00577
00578 dAMotorJoint (const dAMotorJoint &);
00579 void operator = (const dAMotorJoint &);
00580
00581 public:
00582 dAMotorJoint() { }
00583 dAMotorJoint (dWorldID world, dJointGroupID group=0)
00584 { _id = dJointCreateAMotor (world, group); }
00585
00586 void create (dWorldID world, dJointGroupID group=0) {
00587 if (_id) dJointDestroy (_id);
00588 _id = dJointCreateAMotor (world, group);
00589 }
00590
00591 void setMode (int mode)
00592 { dJointSetAMotorMode (_id, mode); }
00593 int getMode() const
00594 { return dJointGetAMotorMode (_id); }
00595
00596 void setNumAxes (int num)
00597 { dJointSetAMotorNumAxes (_id, num); }
00598 int getNumAxes() const
00599 { return dJointGetAMotorNumAxes (_id); }
00600
00601 void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
00602 { dJointSetAMotorAxis (_id, anum, rel, x, y, z); }
00603 void getAxis (int anum, dVector3 result) const
00604 { dJointGetAMotorAxis (_id, anum, result); }
00605 int getAxisRel (int anum) const
00606 { return dJointGetAMotorAxisRel (_id, anum); }
00607
00608 void setAngle (int anum, dReal angle)
00609 { dJointSetAMotorAngle (_id, anum, angle); }
00610 dReal getAngle (int anum) const
00611 { return dJointGetAMotorAngle (_id, anum); }
00612 dReal getAngleRate (int anum)
00613 { return dJointGetAMotorAngleRate (_id,anum); }
00614
00615 void setParam (int parameter, dReal value)
00616 { dJointSetAMotorParam (_id, parameter, value); }
00617 dReal getParam (int parameter) const
00618 { return dJointGetAMotorParam (_id, parameter); }
00619
00620 void addTorques(dReal torque1, dReal torque2, dReal torque3)
00621 { dJointAddAMotorTorques(_id, torque1, torque2, torque3); }
00622 };
00623
00624
00625 class dLMotorJoint : public dJoint {
00626
00627 dLMotorJoint (const dLMotorJoint &);
00628 void operator = (const dLMotorJoint &);
00629
00630 public:
00631 dLMotorJoint() { }
00632 dLMotorJoint (dWorldID world, dJointGroupID group=0)
00633 { _id = dJointCreateLMotor (world, group); }
00634
00635 void create (dWorldID world, dJointGroupID group=0) {
00636 if (_id) dJointDestroy (_id);
00637 _id = dJointCreateLMotor (world, group);
00638 }
00639
00640 void setNumAxes (int num)
00641 { dJointSetLMotorNumAxes (_id, num); }
00642 int getNumAxes() const
00643 { return dJointGetLMotorNumAxes (_id); }
00644
00645 void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
00646 { dJointSetLMotorAxis (_id, anum, rel, x, y, z); }
00647 void getAxis (int anum, dVector3 result) const
00648 { dJointGetLMotorAxis (_id, anum, result); }
00649
00650 void setParam (int parameter, dReal value)
00651 { dJointSetLMotorParam (_id, parameter, value); }
00652 dReal getParam (int parameter) const
00653 { return dJointGetLMotorParam (_id, parameter); }
00654 };
00655
00656
00657
00658 #endif
00659 #endif