物理引擎系统-objects.cpp

/* bodies */

dBodyID dBodyCreate (dWorldID);
void dBodyDestroy (dBodyID);

void  dBodySetData (dBodyID, void *data);
void *dBodyGetData (dBodyID);

void dBodySetPosition   (dBodyID, dReal x, dReal y, dReal z);
void dBodySetRotation   (dBodyID, const dMatrix3 R);
void dBodySetQuaternion (dBodyID, const dQuaternion q);
void dBodySetLinearVel  (dBodyID, dReal x, dReal y, dReal z);
void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
const dReal * dBodyGetPosition   (dBodyID);
const dReal * dBodyGetRotation   (dBodyID);    /* ptr to 4x3 rot matrix */
const dReal * dBodyGetQuaternion (dBodyID);
const dReal * dBodyGetLinearVel  (dBodyID);
const dReal * dBodyGetAngularVel (dBodyID);

void dBodySetMass (dBodyID, const dMass *mass);
void dBodyGetMass (dBodyID, dMass *mass);

void dBodyAddForce            (dBodyID, dReal fx, dReal fy, dReal fz);
void dBodyAddTorque           (dBodyID, dReal fx, dReal fy, dReal fz);
void dBodyAddRelForce         (dBodyID, dReal fx, dReal fy, dReal fz);
void dBodyAddRelTorque        (dBodyID, dReal fx, dReal fy, dReal fz);
void dBodyAddForceAtPos       (dBodyID, dReal fx, dReal fy, dReal fz,
                            dReal px, dReal py, dReal pz);
void dBodyAddForceAtRelPos    (dBodyID, dReal fx, dReal fy, dReal fz,
                            dReal px, dReal py, dReal pz);
void dBodyAddRelForceAtPos    (dBodyID, dReal fx, dReal fy, dReal fz,
                            dReal px, dReal py, dReal pz);
void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
                            dReal px, dReal py, dReal pz);