物理引擎系统-objects

const dReal * dBodyGetForce   (dBodyID);
const dReal * dBodyGetTorque  (dBodyID);
void dBodySetForce  (dBodyID b, dReal x, dReal y, dReal z);
void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);

void dBodyGetRelPointPos    (dBodyID, dReal px, dReal py, dReal pz,
                 dVector3 result);
void dBodyGetRelPointVel    (dBodyID, dReal px, dReal py, dReal pz,
                 dVector3 result);
void dBodyGetPointVel       (dBodyID, dReal px, dReal py, dReal pz,
                 dVector3 result);
void dBodyGetPosRelPoint    (dBodyID, dReal px, dReal py, dReal pz,
                 dVector3 result);
void dBodyVectorToWorld     (dBodyID, dReal px, dReal py, dReal pz,
                 dVector3 result);
void dBodyVectorFromWorld   (dBodyID, dReal px, dReal py, dReal pz,
                 dVector3 result);

void dBodySetFiniteRotationMode (dBodyID, int mode);
void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);

int dBodyGetFiniteRotationMode (dBodyID);
void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);

int dBodyGetNumJoints (dBodyID b);
dJointID dBodyGetJoint (dBodyID, int index);

void dBodyEnable (dBodyID);
void dBodyDisable (dBodyID);
int dBodyIsEnabled (dBodyID);

void dBodySetGravityMode (dBodyID b, int mode);
int dBodyGetGravityMode (dBodyID b);