物理引擎系统-objects.cpp

#ifndef _ODE_OBJECTS_H_
#define _ODE_OBJECTS_H_

#include
#include
#include

#ifdef __cplusplus
extern "C" {
#endif

/* world */

dWorldID dWorldCreate();
void dWorldDestroy (dWorldID);

void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
void dWorldGetGravity (dWorldID, dVector3 gravity);
void dWorldSetERP (dWorldID, dReal erp);
dReal dWorldGetERP (dWorldID);
void dWorldSetCFM (dWorldID, dReal cfm);
dReal dWorldGetCFM (dWorldID);
void dWorldStep (dWorldID, dReal stepsize);
void dWorldImpulseToForce (dWorldID, dReal stepsize,
               dReal ix, dReal iy, dReal iz, dVector3 force);

/* StepFast1 functions */

void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations);
void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth);

int dWorldGetAutoEnableDepthSF1(dWorldID);

void dBodySetAutoDisableThresholdSF1(dBodyID, dReal autoDisableThreshold);

/* These functions are not yet implemented by ODE. */
/*
dReal dBodyGetAutoDisableThresholdSF1(dBodyID);

void dBodySetAutoDisableStepsSF1(dBodyID, int AutoDisableSteps);

int dBodyGetAutoDisableStepsSF1(dBodyID);

void dBodySetAutoDisableSF1(dBodyID, int doAutoDisable);

int dBodyGetAutoDisableSF1(dBodyID);
*/