物理引擎系统-COMMON

#define D_ALL_PARAM_NAMES_X(start,x) \
  /* parameters for limits and motors */ \
  dParamLoStop ## x = start, \
  dParamHiStop ## x, \
  dParamVel ## x, \
  dParamFMax ## x, \
  dParamFudgeFactor ## x, \
  dParamBounce ## x, \
  dParamCFM ## x, \
  dParamStopERP ## x, \
  dParamStopCFM ## x, \
  /* parameters for suspension */ \
  dParamSuspensionERP ## x, \
  dParamSuspensionCFM ## x,

enum {
  D_ALL_PARAM_NAMES(0)
  D_ALL_PARAM_NAMES_X(0x100,2)
  D_ALL_PARAM_NAMES_X(0x200,3)

  /* add a multiple of this constant to the basic parameter numbers to get
   * the parameters for the second, third etc axes.
   */
  dParamGroup=0x100
};

/* angular motor mode numbers */

enum{
  dAMotorUser = 0,
  dAMotorEuler = 1
};

/* joint force feedback information */

typedef struct dJointFeedback {
  dVector3 f1;        /* force applied to body 1 */
  dVector3 t1;        /* torque applied to body 1 */
  dVector3 f2;        /* force applied to body 2 */
  dVector3 t2;        /* torque applied to body 2 */
} dJointFeedback;

/* private functions that must be implemented by the collision library:
 * (1) indicate that a geom has moved, (2) get the next geom in a body list.
 * these functions are called whenever the position of geoms connected to a
 * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
 * when the ODE step function updates the body state.
 */

void dGeomMoved (dGeomID);
dGeomID dGeomGetBodyNext (dGeomID);

#ifdef __cplusplus
}
#endif

#endif