Author: JonNeal Date: 2008-03-03 18:39:26 -0500 (Mon, 03 Mar 2008) New Revision: 1011
Modified: trunk/pysoy/include/ode.pxd Log: Transferred almost all of the ode functions and such to pyrex! Modified: trunk/pysoy/include/ode.pxd =================================================================== --- trunk/pysoy/include/ode.pxd 2008-03-03 03:16:51 UTC (rev 1010) +++ trunk/pysoy/include/ode.pxd 2008-03-03 23:39:26 UTC (rev 1011) @@ -89,9 +89,8 @@ dFirstUserClass dLastUserClass dMaxUserClasses - + ctypedef float dReal - ctypedef dReal dVector3[4] ctypedef dReal dVector4[4] ctypedef dReal dMatrix3[4*3] @@ -99,401 +98,602 @@ ctypedef dReal dMatrix6[8*6] ctypedef dReal dQuaternion[4] - cdef struct dxWorld : - void *none - cdef struct dxSpace : - void *none - cdef struct dxBody : - void *none - cdef struct dxGeom : - void *none - cdef struct dxJoint : - void *none - cdef struct dxJointGroup : - void *none - cdef struct dxTriMeshData : - void *none - cdef struct dxHeightfieldData : - void *none + cdef : + struct dxWorld + struct dxSpace + struct dxBody + struct dxGeom + struct dxJoint + struct dxJointGroup + struct dxTriMeshData + struct dxHeightfieldData - ctypedef dxHeightfieldData* dHeightfieldDataID - - ctypedef dReal dHeightfieldGetHeight ( void*, int, int ) - ctypedef dxWorld* dWorldID ctypedef dxSpace* dSpaceID ctypedef dxBody* dBodyID ctypedef dxGeom* dGeomID ctypedef dxJoint* dJointID ctypedef dxJointGroup* dJointGroupID - ctypedef dxTriMeshData* dTryMeshDataID + ctypedef dxTriMeshData* dTriMeshDataID + ctypedef dxHeightfieldData* dHeightfieldDataID cdef struct dMass : - dReal mass - dVector4 c - dMatrix3 I + dReal mass + dVector4 c + dMatrix3 I cdef struct dJointFeedback : - dVector3 f1 - dVector3 t1 - dVector3 f2 - dVector3 t2 + dVector3 f1 + dVector3 t1 + dVector3 f2 + dVector3 t2 cdef struct dContactGeom : - dVector3 pos - dVector3 normal - dReal depth - dGeomID g1, g2 + dVector3 pos + dVector3 normal + dReal depth + dGeomID g1, g2 + int side1,side2 cdef struct dSurfaceParameters : - int mode - dReal mu, mu2 - dReal bounce - dReal bounce_vel - dReal soft_erp - dReal soft_cfm - dReal motion1, motion2 - dReal slip1, slip2 + int mode + dReal mu, mu2 + dReal bounce + dReal bounce_vel + dReal soft_erp + dReal soft_cfm + dReal motion1, motion2 + dReal slip1, slip2 cdef struct dContact : - dSurfaceParameters surface - dContactGeom geom - dVector3 fdir1 - - ctypedef void dGetAABBFn ( dGeomID, dReal ) - ctypedef int dColliderFn ( dGeomId, dGeomId, int, dContactGeom*, int ) + dSurfaceParameters surface + dContactGeom geom + dVector3 fdir1 + + cdef struct dStopwatch : + double time + unsigned long cc[2] + + ctypedef void dGetAABBFn ( dGeomID, dReal ) + ctypedef int dColliderFn ( dGeomId, dGeomId, int, dContactGeom*, int ) ctypedef dColliderFn* dGetColliderFnFn ( int ) - ctypedef void dGeomDtorFn ( dGeomID ) - ctypedef int dAABBTestFn ( dGeomID, dGeomID, dReal ) + ctypedef void dGeomDtorFn ( dGeomID ) + ctypedef int dAABBTestFn ( dGeomID, dGeomID, dReal ) + ctypedef void dMessageFunction ( int, char*, va_list ) + ctypedef int dTriCallback ( dGeomID, dGeomID, int ) + ctypedef void dTriArrayCallback( dGeomID, dGeomID, int*, int ) + ctypedef int dTriRayCallback ( dGeomID, dGeomID, int, dReal, dReal ) + ctypedef dReal dHeightfieldGetHeight( void*, int, int ) + ctypedef void dNearCallback ( void*, dGeomID, dGeomID ) + ctypedef void* dAllocFunction ( size_t ) + ctypedef void* dReallocFunction ( void*, size_t, size_t ) + ctypedef void dFreeFunction ( void*, size_t ) + cdef struct dGeomClass: - int bytes + int bytes dGetColliderFnFn *collider dGetAABBFn *aabb dAABBTestFn *aabb_test dGeomDtorFn *dtor - - - cdef void dInitODE() - cdef void dCloseODE() - - cdef dWorldID dWorldCreate ( ) - cdef void dWorldDestroy ( dWorldID ) - cdef void dWorldSetGravity ( dWorldID, dReal, dReal, dReal ) - cdef void dWorldGetGravity ( dWorldID, dVector3 ) - cdef void dWorldSetERP ( dWorldID, dReal ) - cdef dReal dWorldGetERP ( dWorldID ) - cdef void dWorldSetCFM ( dWorldID, dReal ) - cdef dReal dWorldGetCFM ( dWorldID ) - cdef void dWorldQuickStep ( dWorldID, dReal stepsize ) - cdef void dWorldImpulseToForce ( dWorldID, dReal, dReal, dReal, dReal, - dVector3 ) - cdef void dBodyAddForce ( dBodyID, dReal, dReal, dReal ) - cdef void dBodyAddForceAtRelPos ( dBodyID, dReal, dReal, dReal, dReal, dReal, dReal ) - - cdef void dBodySetData ( dBodyID, void *data ) - cdef void *dBodyGetData ( dBodyID ) - - cdef dBodyID dBodyCreate ( dWorldID ) - cdef void dBodyDestroy ( dBodyID ) - cdef void dBodyGetMass ( dBodyID, dMass* ) - cdef void dBodySetMass ( dBodyID, dMass* ) - cdef dReal *dBodyGetPosition ( dBodyID ) - cdef dReal *dBodyGetRotation ( dBodyID ) - cdef dReal *dBodyGetQuaternion ( dBodyID ) - cdef dReal *dBodyGetLinearVel ( dBodyID ) - cdef dReal *dBodyGetAngularVel ( dBodyID ) - cdef int dBodyGetGravityMode( dBodyID ) - cdef void dBodyCopyPosition ( dBodyID, dVector3 ) - cdef void dBodyCopyRotation ( dBodyID, dMatrix3 ) - cdef void dBodyCopyQuaternion( dBodyID, dQuaternion ) - cdef void dBodySetPosition ( dBodyID, dReal, dReal, dReal ) - cdef void dBodySetRotation ( dBodyID, dMatrix3 ) - cdef void dBodySetQuaternion ( dBodyID, dQuaternion ) - cdef void dBodySetLinearVel ( dBodyID, dReal, dReal, dReal ) - cdef void dBodySetAngularVel ( dBodyID, dReal, dReal, dReal ) - cdef void dBodySetGravityMode( dBodyID, int ) - - # Space functions - - ctypedef void (*dNearCallback) ( void*, dGeomID, dGeomID ) - cdef dSpaceID dSimpleSpaceCreate ( dSpaceID ) - cdef dSpaceID dHashSpaceCreate ( dSpaceID ) - cdef dSpaceID dQuadTreeSpaceCreate ( dSpaceID, dVector3, dVector3, int ) - cdef void dSpaceDestroy ( dSpaceID ) - cdef void dHashSpaceSetLevels ( dSpaceID, int, int ) - cdef void dHashSpaceGetLevels ( dSpaceID, int*, int* ) - cdef void dSpaceSetCleanup ( dSpaceID, int ) - cdef int dSpaceGetCleanup ( dSpaceID ) - cdef void dSpaceAdd ( dSpaceID, dGeomID ) - cdef void dSpaceRemove ( dSpaceID, dGeomID ) - cdef int dSpaceQuery ( dSpaceID, dGeomID ) - cdef void dSpaceClean ( dSpaceID ) - cdef int dSpaceGetNumGeoms ( dSpaceID ) - cdef dGeomID dSpaceGetGeom ( dSpaceID, int ) - - # Collision functions - - cdef void dSpaceCollide ( dSpaceID, void*, dNearCallback ) - cdef void dSpaceCollide2 ( dGeomID, dGeomID, void*, dNearCallback ) - cdef int dCollide ( dGeomID, dGeomID, int, dContactGeom*, int ) - - # General geom functions - cdef void dGeomDestroy ( dGeomID ) - cdef void dGeomSetData ( dGeomID, void* ) - cdef void* dGeomGetData ( dGeomID ) - cdef void dGeomSetBody ( dGeomID, dBodyID ) - cdef dBodyID dGeomGetBody ( dGeomID ) - cdef void dGeomSetPosition ( dGeomID, dReal , dReal, dReal ) - cdef void dGeomSetRotation ( dGeomID, dMatrix3 ) - cdef void dGeomSetQuaternion ( dGeomID, dQuaternion ) - cdef dReal* dGeomGetPosition ( dGeomID ) - cdef void dGeomCopyPosition ( dGeomID, dVector3 ) - cdef dReal* dGeomGetRotation ( dGeomID ) - cdef void dGeomCopyRotation ( dGeomID, dMatrix3 ) - cdef void dGeomGetQuaternion ( dGeomID, dQuaternion ) - cdef void dGeomGetAABB ( dGeomID, dReal[6] ) - cdef int dGeomIsSpace ( dGeomID ) - cdef dSpaceID dGeomGetSpace ( dGeomID ) - cdef int dGeomGetClass ( dGeomID ) - cdef void dGeomSetCategoryBits ( dGeomID, unsigned long ) - cdef void dGeomSetCollideBits ( dGeomID, unsigned long ) - cdef unsigned long dGeomGetCategoryBits ( dGeomID ) - cdef unsigned long dGeomGetCollideBits ( dGeomID ) - cdef void dGeomEnable ( dGeomID ) - cdef void dGeomDisable ( dGeomID ) - cdef int dGeomIsEnabled ( dGeomID ) - - # Offset geom functions - cdef void dGeomSetOffsetPosition ( dGeomID, dReal, - dReal, dReal ) - cdef void dGeomSetOffsetRotation ( dGeomID, dMatrix3 ) - cdef void dGeomSetOffsetQuaternion ( dGeomID, dQuaternion ) - cdef void dGeomSetOffsetWorldPosition ( dGeomID, dReal, - dReal, dReal ) - cdef void dGeomSetOffsetWorldRotation ( dGeomID, dMatrix3 ) - cdef void dGeomSetOffsetWorldQuaternion ( dGeomID, dQuaternion ) - cdef void dGeomClearOffset ( dGeomID ) - cdef int dGeomIsOffset ( dGeomID ) - cdef dReal* dGeomGetOffsetPosition ( dGeomID ) - cdef void dGeomCopyOffsetPosition ( dGeomID, dVector3 ) - cdef dReal* dGeomGetOffsetRotation ( dGeomID ) - cdef void dGeomCopyOffsetRotation ( dGeomID, dMatrix3 ) - cdef void dGeomGetOffsetQuaternion ( dGeomID, dQuaternion ) - - # Specific geom functions - cdef void dGeomSphereSetRadius ( dGeomID, dReal ) - cdef void dGeomBoxSetLengths ( dGeomID, dReal, dReal, dReal ) - cdef void dGeomBoxGetLengths ( dGeomID, dVector3 ) - cdef void dGeomPlaneSetParams ( dGeomID, dReal, dReal, dReal, - dReal ) - cdef void dGeomPlaneGetParams ( dGeomID, dVector4 ) - cdef void dGeomCCylinderSetParams ( dGeomID, dReal, dReal ) - cdef void dGeomCCylinderGetParams ( dGeomID, dReal*, dReal* ) - cdef void dGeomRaySetLength ( dGeomID, dReal ) - cdef void dGeomRaySet ( dGeomID, dReal, dReal, dReal, - dReal, dReal, dReal) - cdef void dGeomRaySetParams ( dGeomID, int, int ) - cdef void dGeomRayGet ( dGeomID, dVector3, dVector3 ) - cdef void dGeomRayGetParams ( dGeomID, int*, int* ) - cdef dReal dGeomSphereGetRadius ( dGeomID ) - cdef dReal dGeomSpherePointDepth ( dGeomID, dReal, dReal, dReal ) - cdef dGeomID dCreateConvex ( dSpaceID, dReal*, - unsigned int, dReal*, - unsigned int, unsigned int* ) - cdef void dGeomSetConvex ( dGeomID, dReal*, - unsigned int, dReal*, - unsigned int, unsigned int* ) - cdef dReal dGeomBoxPointDepth ( dGeomID, dReal, dReal, dReal ) - cdef dReal dGeomPlanePointDepth ( dGeomID, dReal, dReal, dReal ) - cdef dReal dGeomCCylinderPointDepth ( dGeomID, dReal, dReal, dReal) - cdef dReal dGeomRayGetLength ( dGeomID ) - cdef dGeomID dCreateSphere ( dSpaceID, dReal ) - cdef dGeomID dCreateBox ( dSpaceID, dReal, dReal, - dReal ) - cdef dGeomID dCreatePlane ( dSpaceID, dReal, dReal, - dReal, dReal) - cdef dGeomID dCreateCCylinder ( dSpaceID, dReal, dReal ) - cdef dGeomID dCreateRay ( dSpaceID, dReal ) - cdef dGeomID dCreateCapsule ( dSpaceID, dReal, dReal ) - cdef void dGeomCapsuleSetParams ( dGeomID, dReal, dReal ) - cdef void dGeomCapsuleGetParams ( dGeomID, dReal*, dReal* ) - cdef dReal dGeomCapsulePointDepth ( dGeomID, dReal, dReal, dReal ) - cdef dGeomID dCreateCylinder ( dSpaceID, dReal, dReal ) - cdef void dGeomCylinderSetParams ( dGeomID, dReal, dReal ) - cdef void dGeomCylinderGetParams ( dGeomID, dReal*, dReal* ) - cdef void dGeomRaySetClosestHit ( dGeomID, int ) - cdef int dGeomRayGetClosestHit ( dGeomID ) - cdef dGeomID dCreateGeomTransform ( dSpaceID ) - cdef void dGeomTransformSetGeom ( dGeomID, dReal ) - cdef dGeomID dGeomTransformGetGeom ( dGeomID ) - cdef void dGeomTransformSetCleanup ( dGeomID, int ) - cdef int dGeomTransformGetCleanup ( dGeomID ) - cdef void dGeomTransformSetInfo ( dGeomID, int ) - cdef int dGeomTransformGetInfo ( dGeomID ) - - cdef dJointID dJointCreateBall ( dWorldID, dJointGroupID ) - cdef dJointID dJointCreateHinge ( dWorldID, dJointGroupID ) - cdef dJointID dJointCreateSlider ( dWorldID, dJointGroupID ) - cdef dJointID dJointCreateContact ( dWorldID, dJointGroupID, dContact* ) - cdef dJointID dJointCreateHinge2 ( dWorldID, dJointGroupID ) - cdef dJointID dJointCreateUniversal ( dWorldID, dJointGroupID ) - cdef dJointID dJointCreatePR ( dWorldID, dJointGroupID ) - cdef dJointID dJointCreateFixed ( dWorldID, dJointGroupID ) - cdef dJointID dJointCreateNull ( dWorldID, dJointGroupID ) - cdef dJointID dJointCreateAMotor ( dWorldID, dJointGroupID ) - cdef dJointID dJointCreateLMotor ( dWorldID, dJointGroupID ) - cdef dJointID dJointCreatePlane2D ( dWorldID, dJointGroupID ) - cdef void dJointDestroy ( dJointID ) - cdef dJointGroupID dJointGroupCreate ( int ) - cdef void dJointGroupDestroy ( dJointGroupID ) - cdef void dJointGroupEmpty ( dJointGroupID ) - cdef void dJointAttach ( dJointID, dBodyID, dBodyID ) - cdef void dJointSetData ( dJointID, void* ) - cdef void dJointGetData ( dJointID ) - cdef void dJointGetType ( dJointID ) - cdef void dJointGetBody ( dJointID, int index ) - cdef void dJointSetFeedback ( dJointID, dJointFeedback* ) - cdef void dJointGetFeedback ( dJointID ) - cdef void dJointSetBallAnchor ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetBallAnchor2 ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetHingeAnchor ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetHingeAnchorDelta ( dJointID, dReal, dReal, dReal, - dReal, dReal, dReal ) - cdef void dJointSetHingeAxis ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetHingeParam ( dJointID, int, dReal ) - cdef void dJointAddHingeTorque ( dJointID, dReal ) - cdef void dJointSetSliderAxis ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetSliderAxisDelta ( dJointID, dReal, dReal, dReal, - dReal, dReal, dReal ) - cdef void dJointSetSliderParam ( dJointID, int, dReal ) - cdef void dJointAddSliderForce ( dJointID, dReal force ) - cdef void dJointSetHinge2Anchor ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetHinge2Axis1 ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetHinge2Axis2 ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetHinge2Param ( dJointID, int, dReal ) - cdef void dJointAddHinge2Torques ( dJointID, dReal, dReal ) - cdef void dJointSetUniversalAnchor ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetUniversalAxis1 ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetUniversalAxis2 ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetUniversalParam ( dJointID, int, dReal ) - cdef void dJointAddUniversalTorques ( dJointID, dReal, dReal ) - cdef void dJointSetPRAnchor ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetPRAxis1 ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetPRAxis2 ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetPRParam ( dJointID, int, dReal ) - cdef void dJointAddPRTorque ( dJointID, dReal ) - cdef void dJointSetFixed ( dJointID ) - cdef void dJointSetAMotorNumAxes ( dJointID, int ) - cdef void dJointSetAMotorAxis ( dJointID, int, int, - dReal, dReal, dReal ) - cdef void dJointSetAMotorAngle ( dJointID, int, dReal ) - cdef void dJointSetAMotorParam ( dJointID, int, dReal ) - cdef void dJointSetAMotorMode ( dJointID, int ) - cdef void dJointAddAMotorTorques ( dJointID, dReal, dReal, dReal ) - cdef void dJointSetLMotorNumAxes ( dJointID, int ) - cdef void dJointSetLMotorAxis ( dJointID, int, int, - dReal, dReal, dReal ) - cdef void dJointSetLMotorParam ( dJointID, int, dReal ) - cdef void dJointSetPlane2DXParam ( dJointID, int, dReal ) - cdef void dJointSetPlane2DYParam ( dJointID, int, dReal ) - cdef void dJointSetPlane2DAngleParam ( dJointID, int, dReal ) - cdef void dJointGetBallAnchor ( dJointID, dVector3 ) - cdef void dJointGetBallAnchor2 ( dJointID, dVector3 ) - cdef void dJointGetHingeAnchor ( dJointID, dVector3 ) - cdef void dJointGetHingeAnchor2 ( dJointID, dVector3 ) - cdef void dJointGetHingeAxis ( dJointID, dVector3 ) - cdef dReal dJointGetHingeParam ( dJointID, int ) - cdef dReal dJointGetHingeAngle ( dJointID ) - cdef dReal dJointGetHingeAngleRate ( dJointID ) - cdef dReal dJointGetSliderPosition ( dJointID ) - cdef dReal dJointGetSliderPositionRate ( dJointID ) - cdef void dJointGetSliderAxis ( dJointID, dVector3 ) - cdef dReal dJointGetSliderParam ( dJointID, int ) - cdef void dJointGetHinge2Anchor ( dJointID, dVector3 ) - cdef void dJointGetHinge2Anchor2 ( dJointID, dVector3 ) - cdef void dJointGetHinge2Axis1 ( dJointID, dVector3 ) - cdef void dJointGetHinge2Axis2 ( dJointID, dVector3 ) - cdef dReal dJointGetHinge2Param ( dJointID, int ) - cdef dReal dJointGetHinge2Angle1 ( dJointID ) - cdef dReal dJointGetHinge2Angle1Rate ( dJointID ) - cdef dReal dJointGetHinge2Angle2Rate ( dJointID ) - cdef void dJointGetUniversalAnchor ( dJointID, dVector3 ) - cdef void dJointGetUniversalAnchor2 ( dJointID, dVector3 ) - cdef void dJointGetUniversalAxis1 ( dJointID, dVector3 ) - cdef void dJointGetUniversalAxis2 ( dJointID, dVector3 ) - cdef dReal dJointGetUniversalParam ( dJointID, int ) - cdef void dJointGetUnivernalAngles ( dJointID, dReal*, dReal* ) - cdef dReal dJointGetUniversalAngle1 ( dJointID ) - cdef dReal dJointGetUniversalAngle2 ( dJointID ) - cdef dReal dJointGetUniversalAngle1Rate( dJointID ) - cdef dReal dJointGetUniversalAngle2Rate( dJointID ) - cdef void dJointGetPRAnchor ( dJointID, dVector3 ) - cdef dReal dJointGetPRPosition ( dJointID ) - cdef dReal dJointGetPRPositionRate ( dJointID ) - cdef void dJointGetPRAxis1 ( dJointID, dVector3 ) - cdef void dJointGetPRAxis2 ( dJointID, dVector3 ) - cdef dReal dJointGetPRParam ( dJointID, int ) - cdef int dJointGetAMotorNumAxes ( dJointID ) - cdef void dJointGetAMotorAxis ( dJointID, int, dVector3 ) - cdef int dJointGetAMotorAxisRel ( dJointID, int ) - cdef dReal dJointGetAMotorAngle ( dJointID, int ) - cdef dReal dJointGetAMotorAngleRate ( dJointID, int ) - cdef dReal dJointGetAMotorParam ( dJointID, int ) - cdef int dJointGetAMotorMode ( dJointID ) - cdef int dJointGetLMotorNumAxes ( dJointID ) - cdef void dJointGetLMotorAxis ( dJointID, int, dVector3 ) - cdef dReal dJointGetLMotorParam ( dJointID, int ) - cdef dGeomID dCreateHeightField ( dSpaceID, - dHeightfieldDataID, int ) - - cdef dHeightfieldDataID dGeomHeightfieldDataCreate ( ) - cdef void dGeomHeightfieldDataDestroy ( dHeightfieldDataID ) - cdef void dGeomHeightfieldDataBuildCallback ( dHeightfieldDataID, - - dHeightfieldGetHeight*, - dReal, dReal, int, - int, dReal, dReal, - dReal, int ) - cdef void dGeomHeightfieldDataBuildByte ( dHeightfieldDataID, - int,dReal,dReal,int, - int, dReal, dReal, - dReal, int ) - cdef void dGeomHeightfieldDataBuildShort ( dHeightfieldDataID, - int, dReal, dReal, - dReal, int, int, - dReal, dReal, dReal, - int ) - cdef void dGeomHeightfieldDataBuildSingle ( dHeightfieldDataID, - int, dReal, int, int, - dReal, dReal, dReal, - int ) - cdef void dGeomHeightfieldDataBuildDouble ( dHeightfieldDataID, - int, dReal, dReal, - int, dReal, dReal, - dReal, int ) - cdef void dGeomHeightfieldDataSetBounds ( dHeightfieldDataID, - dReal, dReal ) - cdef void dGeomHeightfieldSetHeightfieldData ( dHeightfieldDataID, - dGeomID ) - cdef dHeightfieldDataID dGeomHeightfieldGetHeightfieldData \ - ( dGeomID g ) - cdef void dClosestLineSegmentPoints ( dVector3, dVector3 ) - cdef int dBoxTouchesBox ( ) - cdef int dBoxBox ( dVector3, dReal*, - int*, int, - dContactGeom*, int ) - cdef void dInfiniteAABB ( dGeomID, dReal ) - cdef void dNormalize3 ( dVector3 ) - cdef int dCreateGeomClass ( ) - cdef dGeomID dCreateGeom ( int ) - - # Math Functions - cdef dReal dSqrt ( dReal ) - cdef dReal dRecipSqrt ( dReal ) - cdef dReal dSin ( dReal ) - cdef dReal dCos ( dReal ) - cdef dReal dFabs ( dReal ) - cdef dReal dAtan2 ( dReal, dReal ) - cdef dReal dFMod ( dReal, dReal ) - cdef dReal dDISTANCE ( dVector3, dVector3 ) + cdef : + void dGeomTriMeshDataSet ( dTriMeshDataID, int, void* ) + dTriMeshDataID dGeomTriMeshDataCreate( ) + void dGeomTriMeshDataDestroy ( dTriMeshDataID ) + void* dGeomTriMeshDataGet ( dTriMeshDataID, int ) + void dGeomTriMeshSetLastTransform ( dGeomID, dMatrix4 ) + dReal* dGeomTriMeshGetLastTransform ( dGeomID ) + void dGeomTriMeshDataBuildSingle ( dTriMeshDataID, void*, int, int, + void*, int, int ) + void dGeomTriMeshDataBuildSingle1 ( dTriMeshDataID, void*, int, int, + void*, int, int, void* ) + void dGeomTriMeshDataBuildDouble ( dTriMeshDataID, void*, int, int, + void*, int, int ) + void dGeomTriMeshDataBuildDouble1 ( dTriMeshDataID, void*, int, int, + void*, int, int, void* ) + void dGeomTriMeshDataBuildSimple ( dTriMeshDataID, dReal*, int, int*, + int ) + void dGeomTriMeshDataBuildSimple1 ( dTriMeshDataID, dReal*, int, int*, + int, int* ) + void dGeomTriMeshDataPreprocess ( dTriMeshDataID ) + void dGeomTriMeshDataGetBuffer ( dTriMeshDataID, unsigned char**, + int* ) + void dGeomTriMeshDataSetBuffer ( dTriMeshDataID, unsigned char* ) + void dGeomTriMeshSetCallback ( dGeomID, dTriCallback* ) + dTriCallback* dGeomTriMeshGetCallback ( dGeomID ) + void dGeomTriMeshSetArrayCallback ( dGeomID, dTriArrayCallback* ) + dTriArrayCallback* dGeomTriMeshGetArrayCallback( dGeomID ) + void dGeomTriMeshSetRayCallback ( dGeomID, dTriRayCallback* ) + dTriRayCallback* dGeomTriMeshGetRayCallback( dGeomID ) + dGeomID dCreateTriMesh ( dSpaceID, dTriMeshDataID, dTriCallback*, + dTriArrayCallback*, dTriRayCallback* ) + void dGeomTriMeshSetData ( dGeomID, dTriMeshDataID ) + dTriMeshDataID dGeomTriMeshGetData ( dGeomID ) + void dGeomTriMeshEnableTC ( dGeomID, int, int ) + int dGeomTriMeshIsTCEnabled ( dGeomID, int ) + void dGeomTriMeshClearTCCache ( dGeomID ) + dTriMeshDataID dGeomTriMeshGetTriMeshDataID( dGeomID ) + void dGeomTriMeshGetTriangle ( dGeomID, int, dVector3*, dVector3*, + dVector3* ) + void dGeomTriMeshGetPoint ( dGeomID, int, dReal, dReal, dVector3 ) + int dGeomTriMeshGetTriangleCount ( dGeomID ) + void dGeomTriMeshDataUpdate ( dTriMeshDataID ) + int dSafeNormalize3 ( dVector3 ) + int dSafeNormalize4 ( dVector4 ) + void dNormalize3 ( dVector3 ) + void dNormalize4 ( dVector4 ) + void dPlaneSpace ( dVector3, dVector3, dVector3 ) + int dMassCheck ( dMass* ) + void dMassSetZero ( dMass* ) + void dMassSetParameters ( dMass*, dReal, dReal, dReal, dReal, dReal, + dReal, dReal, dReal, dReal, dReal ) + void dMassSetSphere ( dMass*, dReal, dReal ) + void dMassSetSphereTotal ( dMass*, dReal, dReal ) + void dMassSetCapsule ( dMass*, dReal, int, dReal, dReal ) + void dMassSetCapsuleTotal ( dMass*, dReal, int, dReal, dReal ) + void dMassSetCylinder ( dMass*, dReal, int, dReal, dReal ) + void dMassSetCylinderTotal ( dMass*, dReal, int, dReal, dReal ) + void dMassSetBox ( dMass*, dReal, dReal, dReal, dReal ) + void dMassSetBoxTotal ( dMass*, dReal, dReal, dReal, dReal ) + void dMassSetTrimesh ( dMass*, dReal, dGeomID ) + void dMassSetTrimeshTotal ( dMass*, dReal, dGeomID ) + void dMassAdjust ( dMass*, dReal ) + void dMassTranslate ( dMass*, dReal, dReal, dReal ) + void dMassRotate ( dMass*, dMatrix3 ) + void dMassAdd ( dMass*, dMass* ) + void dSetErrorHandler ( dMessageFunction* ) + void dSetDebugHandler ( dMessageFunction* ) + void dSetMessageHandler ( dMessageFunction* ) + dMessageFunction* dGetErrorHandler ( ) + dMessageFunction* dGetDebugHandler ( ) + dMessageFunction* dGetMessageHandler ( ) + void dError ( int, char*, ... ) + void dDebug ( int, char*, ... ) + void dMessage ( int, char*, ... ) + void dStopwatchReset ( dStopwatch* ) + void dStopwatchStart ( dStopwatch* ) + void dStopwatchStop ( dStopwatch* ) + double dStopwatchTime ( dStopwatch* ) + void dTimerStart ( char* ) + void dTimerNow ( char* ) + void dTimerEnd ( ) + void dTimerReport ( void*, int ) + double dTimerTicksPerSecond ( ) + double dTimerResolution ( ) + void dGeomDestroy ( dGeomID ) + void dGeomSetData ( dGeomID, void* ) + void *dGeomGetData ( dGeomID ) + void dGeomSetBody ( dGeomID, dBodyID ) + dBodyID dGeomGetBody ( dGeomID ) + void dGeomSetPosition ( dGeomID, dReal, dReal, dReal ) + void dGeomSetRotation ( dGeomID, dMatrix3 ) + void dGeomSetQuaternion ( dGeomID, dQuaternion ) + dReal* dGeomGetPosition ( dGeomID ) + void dGeomCopyPosition ( dGeomID, dVector3 ) + dReal* dGeomGetRotation ( dGeomID ) + void dGeomCopyRotation ( dGeomID, dMatrix3 ) + void dGeomGetQuaternion ( dGeomID, dQuaternion ) + void dGeomGetAABB ( dGeomID, dReal ) + int dGeomIsSpace ( dGeomID ) + dSpaceID dGeomGetSpace ( dGeomID ) + int dGeomGetClass ( dGeomID ) + void dGeomSetCategoryBits ( dGeomID, unsigned long ) + void dGeomSetCollideBits ( dGeomID, unsigned long ) + unsigned long dGeomGetCategoryBits ( dGeomID ) + unsigned long dGeomGetCollideBits ( dGeomID ) + void dGeomEnable ( dGeomID ) + void dGeomDisable ( dGeomID ) + int dGeomIsEnabled ( dGeomID ) + void dGeomSetOffsetPosition ( dGeomID, dReal, dReal, dReal ) + void dGeomSetOffsetRotation ( dGeomID, dMatrix3 ) + void dGeomSetOffsetQuaternion ( dGeomID, dQuaternion ) + void dGeomSetOffsetWorldPosition ( dGeomID, dReal, dReal, dReal ) + void dGeomSetOffsetWorldRotation ( dGeomID, dMatrix3 ) + void dGeomSetOffsetWorldQuaternion ( dGeomID, dQuaternion ) + void dGeomClearOffset ( dGeomID ) + int dGeomIsOffset ( dGeomID ) + dReal* dGeomGetOffsetPosition ( dGeomID ) + void dGeomCopyOffsetPosition ( dGeomID, dVector3 ) + dReal* dGeomGetOffsetRotation ( dGeomID ) + void dGeomCopyOffsetRotation ( dGeomID, dMatrix3 ) + void dGeomGetOffsetQuaternion ( dGeomID, dQuaternion ) + int dCollide ( dGeomID, dGeomID, int, + dContactGeom*, int ) + void dSpaceCollide ( dSpaceID, void*, dNearCallback* ) + void dSpaceCollide2 ( dGeomID, dGeomID, void*, + dNearCallback* ) + dGeomID dCreateSphere ( dSpaceID, dReal ) + void dGeomSphereSetRadius ( dGeomID, dReal ) + dReal dGeomSphereGetRadius ( dGeomID ) + dReal dGeomSpherePointDepth ( dGeomID, dReal, dReal, dReal ) + dGeomID dCreateConvex ( dSpaceID, dReal*, unsigned int, + dReal*, unsigned int, + unsigned int ) + void dGeomSetConvex ( dGeomID, dReal*, unsigned int, + dReal*, unsigned int, + unsigned int* ) + dGeomID dCreateBox ( dSpaceID, dReal, dReal, + dReal ) + void dGeomBoxSetLengths ( dGeomID, dReal, dReal, + dReal ) + void dGeomBoxGetLengths ( dGeomID , dVector3 ) + dReal dGeomBoxPointDepth ( dGeomID, dReal, dReal, + dReal ) + dGeomID dCreatePlane ( dSpaceID, dReal, dReal, + dReal, dReal ) + void dGeomPlaneSetParams ( dGeomID, dReal, dReal, + dReal, dReal ) + void dGeomPlaneGetParams ( dGeomID, dVector4 ) + dReal dGeomPlanePointDepth ( dGeomID, dReal, dReal, + dReal ) + dGeomID dCreateCapsule ( dSpaceID, dReal, dReal ) + void dGeomCapsuleSetParams ( dGeomID, dReal, dReal ) + void dGeomCapsuleGetParams ( dGeomID, dReal*, dReal* ) + dReal dGeomCapsulePointDepth ( dGeomID, dReal, dReal, + dReal ) + dGeomID dCreateCylinder ( dSpaceID, dReal, dReal ) + void dGeomCylinderSetParams ( dGeomID, dReal, dReal ) + void dGeomCylinderGetParams ( dGeomID, dReal*, dReal* ) + dGeomID dCreateRay ( dSpaceID, dReal ) + void dGeomRaySetLength ( dGeomID, dReal ) + dReal dGeomRayGetLength ( dGeomID ) + void dGeomRaySet ( dGeomID, dReal, dReal, dReal, + dReal, dReal, dReal ) + void dGeomRayGet ( dGeomID, dVector3, dVector3 ) + void dGeomRaySetParams ( dGeomID, int, int ) + void dGeomRayGetParams ( dGeomID, int*, int* ) + void dGeomRaySetClosestHit ( dGeomID, int ) + int dGeomRayGetClosestHit ( dGeomID ) + dGeomID dCreateGeomTransform ( dSpaceID ) + void dGeomTransformSetGeom ( dGeomID, dGeomID ) + dGeomID dGeomTransformGetGeom ( dGeomID ) + void dGeomTransformSetCleanup ( dGeomID , int ) + int dGeomTransformGetCleanup ( dGeomID ) + void dGeomTransformSetInfo ( dGeomID , int ) + int dGeomTransformGetInfo ( dGeomID ) + dGeomID dCreateHeightfield ( dSpaceID, dHeightfieldDataID, int ) + dHeightfieldDataID dGeomHeightfieldDataCreate( ) + void dGeomHeightfieldDataDestroy ( dHeightfieldDataID ) + void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID , void*, + dHeightfieldGetHeight*, dReal, + dReal, int, int, dReal, dReal, + dReal, int ) + void dGeomHeightfieldDataBuildByte ( dHeightfieldDataID, unsigned char*, + int, dReal, dReal, int, int, dReal, + dReal, dReal, int ) + void dGeomHeightfieldDataBuildShort( dHeightfieldDataID, short*, + int, dReal, dReal, int, int, + dReal, dReal, dReal, int ) + void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID, float*, + int, dReal, dReal, int, int, + dReal, dReal, dReal, int ) + void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID, double*, + int, dReal, dReal, int, int, + dReal, dReal, dReal, int ) + void dGeomHeightfieldDataSetBounds ( dHeightfieldDataID, dReal, + dReal ) + void dGeomHeightfieldSetHeightfieldData( dGeomID, dHeightfieldDataID ) + dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID ) + void dClosestLineSegmentPoints ( dVector3, dVector3, dVector3, + dVector3, dVector3, dVector3 ) + int dBoxTouchesBox ( dVector3, dMatrix3, dVector3, + dVector3, dMatrix3, dVector3 ) + int dBoxBox ( dVector3, dMatrix3, dVector3, + dVector3, dMatrix3, dVector3, + dVector3, dReal*, int*, int, + dContactGeom*, int ) + void dInfiniteAABB ( dGeomID, dReal ) + void dInitODE ( ) + void dCloseODE ( ) + int dCreateGeomClass ( dGeomClass* ) + void* dGeomGetClassData ( dGeomID ) + dGeomID dCreateGeom ( int ) + dSpaceID dSimpleSpaceCreate ( dSpaceID ) + dSpaceID dHashSpaceCreate ( dSpaceID ) + dSpaceID dQuadTreeSpaceCreate ( dSpaceID, dVector3, dVector3, + int ) + void dSpaceDestroy ( dSpaceID ) + void dHashSpaceSetLevels ( dSpaceID, int, int ) + void dHashSpaceGetLevels ( dSpaceID, int*, int* ) + void dSpaceSetCleanup ( dSpaceID, int ) + int dSpaceGetCleanup ( dSpaceID ) + void dSpaceAdd ( dSpaceID, dGeomID ) + void dSpaceRemove ( dSpaceID, dGeomID ) + int dSpaceQuery ( dSpaceID, dGeomID ) + void dSpaceClean ( dSpaceID ) + int dSpaceGetNumGeoms ( dSpaceID ) + dGeomID dSpaceGetGeom ( dSpaceID, int ) + void dRSetIdentity ( dMatrix3 ) + void dRFromAxisAndAngle ( dMatrix3, dReal, dReal, dReal, + dReal ) + void dRFromEulerAngles ( dMatrix3, dReal, dReal, dReal ) + void dRFrom2Axes ( dMatrix3, dReal, dReal, dReal, + dReal, dReal, dReal ) + void dRFromZAxis ( dMatrix3, dReal, dReal, dReal ) + void dQSetIdentity ( dQuaternion ) + void dQFromAxisAndAngle ( dQuaternion, dReal, dReal, + dReal, dReal ) + void dQMultiply0 ( dQuaternion, dQuaternion, + dQuaternion ) + void dQMultiply1 ( dQuaternion, dQuaternion, + dQuaternion ) + void dQMultiply2 ( dQuaternion, dQuaternion, + dQuaternion ) + void dQMultiply3 ( dQuaternion, dQuaternion, + dQuaternion ) + void dRfromQ ( dMatrix3, dQuaternion ) + void dQfromR ( dQuaternion, dMatrix3 ) + void dDQfromW ( dReal, dVector3, dQuaternion ) + dWorldID dWorldCreate ( ) + void dWorldDestroy ( dWorldID ) + void dWorldSetGravity ( dWorldID, dReal, dReal, dReal ) + void dWorldGetGravity ( dWorldID, dVector3 ) + void dWorldSetERP ( dWorldID, dReal ) + dReal dWorldGetERP ( dWorldID ) + void dWorldSetCFM ( dWorldID, dReal ) + dReal dWorldGetCFM ( dWorldID ) + void dWorldStep ( dWorldID, dReal ) + void dWorldImpulseToForce ( dWorldID, dReal, dReal, dReal, + dReal, dVector3 ) + void dWorldQuickStep ( dWorldID, dReal ) + void dWorldSetQuickStepNumIterations ( dWorldID, int ) + int dWorldGetQuickStepNumIterations ( dWorldID ) + void dWorldSetQuickStepW ( dWorldID, dReal ) + dReal dWorldGetQuickStepW ( dWorldID ) + void dWorldSetContactMaxCorrectingVel ( dWorldID, dReal ) + dReal dWorldGetContactMaxCorrectingVel ( dWorldID ) + void dWorldSetContactSurfaceLayer (dWorldID, dReal ) + dReal dWorldGetContactSurfaceLayer ( dWorldID ) + void dWorldStepFast1 ( dWorldID, dReal, int ) + void dWorldSetAutoEnableDepthSF1 ( dWorldID, int ) + int dWorldGetAutoEnableDepthSF1 ( dWorldID ) + dReal dWorldGetAutoDisableLinearThreshold ( dWorldID ) + void dWorldSetAutoDisableLinearThreshold ( dWorldID, dReal ) + dReal dWorldGetAutoDisableAngularThreshold ( dWorldID ) + void dWorldSetAutoDisableAngularThreshold ( dWorldID, dReal ) + dReal dWorldGetAutoDisableLinearAverageThreshold ( dWorldID ) + void dWorldSetAutoDisableLinearAverageThreshold ( dWorldID, dReal ) + dReal dWorldGetAutoDisableAngularAverageThreshold ( dWorldID ) + void dWorldSetAutoDisableAngularAverageThreshold ( dWorldID, dReal ) + int dWorldGetAutoDisableAverageSamplesCount ( dWorldID ) + void dWorldSetAutoDisableAverageSamplesCount ( dWorldID, unsigned int ) + int dWorldGetAutoDisableSteps ( dWorldID ) + void dWorldSetAutoDisableSteps ( dWorldID, int ) + dReal dWorldGetAutoDisableTime ( dWorldID ) + void dWorldSetAutoDisableTime ( dWorldID, dReal ) + int dWorldGetAutoDisableFlag ( dWorldID ) + void dWorldSetAutoDisableFlag ( dWorldID, int ) + dReal dBodyGetAutoDisableLinearThreshold ( dBodyID ) + void dBodySetAutoDisableLinearThreshold ( dBodyID, dReal ) + dReal dBodyGetAutoDisableAngularThreshold ( dBodyID ) + void dBodySetAutoDisableAngularThreshold ( dBodyID, dReal ) + int dBodyGetAutoDisableAverageSamplesCount ( dBodyID ) + void dBodySetAutoDisableAverageSamplesCount ( dBodyID, unsigned int ) + int dBodyGetAutoDisableSteps ( dBodyID ) + void dBodySetAutoDisableSteps ( dBodyID, int ) + dReal dBodyGetAutoDisableTime ( dBodyID ) + void dBodySetAutoDisableTime ( dBodyID, dReal ) + int dBodyGetAutoDisableFlag ( dBodyID ) + void dBodySetAutoDisableFlag ( dBodyID, int ) + void dBodySetAutoDisableDefaults ( dBodyID ) + dWorldID dBodyGetWorld ( dBodyID ) + dBodyID dBodyCreate ( dWorldID ) + void dBodyDestroy ( dBodyID ) + void dBodySetData ( dBodyID, void* ) + void* dBodyGetData ( dBodyID ) + void dBodySetPosition ( dBodyID, dReal, dReal, dReal ) + void dBodySetRotation ( dBodyID, dMatrix3 ) + void dBodySetQuaternion ( dBodyID, dQuaternion ) + void dBodySetLinearVel ( dBodyID, dReal, dReal, dReal ) + void dBodySetAngularVel ( dBodyID, dReal, dReal, dReal ) + dReal* dBodyGetPosition ( dBodyID ) + void dBodyCopyPosition ( dBodyID, dVector3 ) + dReal* dBodyGetRotation ( dBodyID ) + void dBodyCopyRotation ( dBodyID, dMatrix3 ) + dReal* dBodyGetQuaternion ( dBodyID ) + void dBodyCopyQuaternion ( dBodyID, dQuaternion ) + dReal* dBodyGetLinearVel ( dBodyID ) + dReal* dBodyGetAngularVel ( dBodyID ) + void dBodySetMass ( dBodyID, dMass* ) + void dBodyGetMass ( dBodyID, dMass* ) + void dBodyAddForce ( dBodyID, dReal, dReal, dReal ) + void dBodyAddTorque ( dBodyID, dReal, dReal, dReal ) + void dBodyAddRelForce ( dBodyID, dReal, dReal, dReal ) + void dBodyAddRelTorque ( dBodyID, dReal, dReal, dReal ) + void dBodyAddForceAtPos ( dBodyID, dReal, dReal, dReal ) + void dBodyAddForceAtRelPos ( dBodyID, dReal, dReal, dReal, + dReal, dReal, dReal ) + void dBodyAddRelForceAtPos ( dBodyID, dReal, dReal, dReal ) + void dBodyAddRelForceAtRelPos ( dBodyID, dReal, dReal, dReal ) + dReal* dBodyGetForce ( dBodyID ) + void dBodySetForce ( dBodyID, dReal, dReal, dReal ) + void dBodySetTorque ( dBodyID, dReal, dReal, dReal ) + void dBodyGetRelPointPos ( dBodyID, dReal, dReal, dReal, + dVector3 ) + void dBodyGetRelPointVel ( dBodyID, dReal, dReal, dReal, + dVector3 ) + void dBodyGetPointVel ( dBodyID, dReal, dReal, dReal, + dVector3 ) + void dBodyGetPosRelPoint ( dBodyID, dReal, dReal, dReal, + dVector3 ) + void dBodyVectorToWorld ( dBodyID, dReal, dReal, dReal, + dVector3 ) + void dBodyVectorFromWorld ( dBodyID, dReal, dReal, dReal, + dVector3 ) + void dBodySetFiniteRotationMode ( dBodyID, int ) + void dBodySetFiniteRotationAxis ( dBodyID, dReal, dReal, dReal ) + int dBodyGetFiniteRotationMode ( dBodyID ) + void dBodyGetFiniteRotationAxis ( dBodyID, dVector3 ) + int dBodyGetNumJoints ( dBodyID ) + dJointID dBodyGetJoint ( dBodyID, int ) + void dBodyEnable ( dBodyID ) + void dBodyDisable ( dBodyID ) + int dBodyIsEnabled ( dBodyID ) + void dBodySetGravityMode ( dBodyID, int ) + int dBodyGetGravityMode ( dBodyID ) + dJointID dJointCreateBall ( dWorldID, dJointGroupID ) + dJointID dJointCreateHinge ( dWorldID, dJointGroupID ) + dJointID dJointCreateSlider ( dWorldID, dJointGroupID ) + dJointID dJointCreateContact ( dWorldID, dJointGroupID, + dContact* ) + dJointID dJointCreateHinge2 ( dWorldID, dJointGroupID ) + dJointID dJointCreateUniversal ( dWorldID, dJointGroupID ) + dJointID dJointCreatePR ( dWorldID, dJointGroupID ) + dJointID dJointCreateFixed ( dWorldID, dJointGroupID ) + dJointID dJointCreateNull ( dWorldID, dJointGroupID ) + dJointID dJointCreateAMotor ( dWorldID, dJointGroupID ) + dJointID dJointCreateLMotor ( dWorldID, dJointGroupID ) + dJointID dJointCreatePlane2D ( dWorldID, dJointGroupID ) + void dJointDestroy ( dJointID ) + dJointGroupID dJointGroupCreate ( int ) + void dJointGroupDestroy ( dJointGroupID ) + void dJointGroupEmpty ( dJointGroupID ) + void dJointAttach ( dJointID, dBodyID, dBodyID ) + void dJointSetData ( dJointID, void* ) + void* dJointGetData ( dJointID ) + int dJointGetType ( dJointID ) + dBodyID dJointGetBody ( dJointID, int ) + void dJointSetFeedback ( dJointID, dJointFeedback* ) + dJointFeedback* dJointGetFeedback ( dJointID ) + void dJointSetBallAnchor ( dJointID, dReal, dReal, dReal ) + void dJointSetBallAnchor2 ( dJointID, dReal, dReal, dReal ) + void dJointSetBallParam ( dJointID, int, dReal ) + void dJointSetHingeAnchor ( dJointID, dReal, dReal, dReal ) + void dJointSetHingeAnchorDelta ( dJointID, dReal, dReal, dReal, + dReal, dReal, dReal ) + void dJointSetHingeAxis ( dJointID, dReal, dReal, dReal ) + void dJointSetHingeParam ( dJointID, int, dReal ) + void dJointAddHingeTorque ( dJointID, dReal ) + void dJointSetSliderAxis ( dJointID, dReal, dReal, dReal ) + void dJointSetSliderAxisDelta ( dJointID, dReal, dReal, dReal, + dReal, dReal, dReal ) + void dJointSetSliderParam ( dJointID, int, dReal ) + void dJointAddSliderForce ( dJointID, dReal ) + void dJointSetHinge2Anchor ( dJointID, dReal, dReal, dReal ) + void dJointSetHinge2Axis1 ( dJointID, dReal, dReal, dReal ) + void dJointSetHinge2Axis2 ( dJointID, dReal, dReal, dReal ) + void dJointSetHinge2Param ( dJointID, int, dReal ) + void dJointAddHinge2Torques ( dJointID, dReal, dReal ) + void dJointSetUniversalAnchor ( dJointID, dReal, dReal, dReal ) + void dJointSetUniversalAxis1 ( dJointID, dReal, dReal, dReal ) + void dJointSetUniversalAxis2 ( dJointID, dReal, dReal, dReal ) + void dJointSetUniversalParam ( dJointID, int, dReal ) + void dJointAddUniversalTorques ( dJointID, dReal, dReal ) + void dJointSetPRAnchor ( dJointID, dReal, dReal, dReal ) + void dJointSetPRAxis1 ( dJointID, dReal, dReal, dReal ) + void dJointSetPRAxis2 ( dJointID, dReal, dReal, dReal ) + void dJointSetPRParam ( dJointID, int, dReal ) + void dJointAddPRTorque ( dJointID, dReal ) + void dJointSetFixed ( dJointID ) + void dJointSetFixedParam ( dJointID, int, dReal ) + void dJointSetAMotorNumAxes ( dJointID, int ) + void dJointSetAMotorAxis ( dJointID, int, int, dReal, dReal, + dReal ) + void dJointSetAMotorAngle ( dJointID, int, dReal ) + void dJointSetAMotorParam ( dJointID, int, dReal ) + void dJointSetAMotorMode ( dJointID, int ) + void dJointAddAMotorTorques ( dJointID, dReal, dReal, dReal ) + void dJointSetLMotorNumAxes ( dJointID, int ) + void dJointSetLMotorAxis ( dJointID, int, int, dReal, dReal, + dReal ) + void dJointSetLMotorParam ( dJointID, int, dReal ) + void dJointSetPlane2DXParam ( dJointID, int, dReal ) + void dJointSetPlane2DYParam ( dJointID, int, dReal ) + void dJointSetPlane2DAngleParam ( dJointID, int, dReal ) + void dJointGetBallAnchor ( dJointID, dVector3 ) + void dJointGetBallAnchor2 ( dJointID, dVector3 ) + dReal dJointGetBallParam ( dJointID, int ) + void dJointGetHingeAnchor ( dJointID, dVector3 ) + void dJointGetHingeAnchor2 ( dJointID, dVector3 ) + void dJointGetHingeAxis ( dJointID, dVector3 ) + dReal dJointGetHingeParam ( dJointID, int ) + dReal dJointGetHingeAngle ( dJointID ) + dReal dJointGetHingeAngleRate ( dJointID ) + dReal dJointGetSliderPosition ( dJointID ) + dReal dJointGetSliderPositionRate ( dJointID ) + void dJointGetSliderAxis ( dJointID, dVector3 ) + dReal dJointGetSliderParam ( dJointID, int) + void dJointGetHinge2Anchor ( dJointID, dVector3 ) + void dJointGetHinge2Anchor2 ( dJointID, dVector3 ) + void dJointGetHinge2Axis1 ( dJointID, dVector3 ) + void dJointGetHinge2Axis2 ( dJointID, dVector3 ) + dReal dJointGetHinge2Param ( dJointID, int ) + dReal dJointGetHinge2Angle1 ( dJointID ) + dReal dJointGetHinge2Angle1Rate ( dJointID ) + dReal dJointGetHinge2Angle2Rate ( dJointID ) + void dJointGetUniversalAnchor ( dJointID, dVector3 ) + void dJointGetUniversalAnchor2 ( dJointID, dVector3 ) + void dJointGetUniversalAxis1 ( dJointID, dVector3 ) + void dJointGetUniversalAxis2 ( dJointID, dVector3 ) + dReal dJointGetUniversalParam ( dJointID, int ) + void dJointGetUniversalAngles ( dJointID, dReal*, dReal* ) + dReal dJointGetUniversalAngle1 ( dJointID ) + dReal dJointGetUniversalAngle2 ( dJointID ) + dReal dJointGetUniversalAngle1Rate ( dJointID ) + dReal dJointGetUniversalAngle2Rate ( dJointID ) + void dJointGetPRAnchor ( dJointID, dVector3 ) + dReal dJointGetPRPosition ( dJointID ) + dReal dJointGetPRPositionRate ( dJointID ) + void dJointGetPRAxis1 ( dJointID, dVector3 ) + void dJointGetPRAxis2 ( dJointID, dVector3 ) + dReal dJointGetPRParam ( dJointID, int ) + int dJointGetAMotorNumAxes ( dJointID ) + void dJointGetAMotorAxis ( dJointID, int, dVector3 ) + int dJointGetAMotorAxisRel ( dJointID, int ) + dReal dJointGetAMotorAngle ( dJointID, int ) + dReal dJointGetAMotorAngleRate ( dJointID, int ) + dReal dJointGetAMotorParam ( dJointID, int ) + int dJointGetAMotorMode ( dJointID ) + int dJointGetLMotorNumAxes ( dJointID ) + void dJointGetLMotorAxis ( dJointID, int, dVector3 ) + dReal dJointGetLMotorParam ( dJointID, int ) + dReal dJointGetFixedParam ( dJointID, int ) + dJointID dConnectingJoint ( dBodyID, dBodyID ) + int dConnectingJointList ( dBodyID, dBodyID, dJointID* ) + int dAreConnected ( dBodyID, dBodyID ) + int dAreConnectedExcluding ( dBodyID, dBodyID, int ) + void dSetAllocHandler ( dAllocFunction* ) + void dSetReallocHandler ( dReallocFunction* ) + void dSetFreeHandler ( dFreeFunction* ) + dAllocFunction* dGetAllocHandler ( ) + dReallocFunction* dGetReallocHandler ( ) + dFreeFunction* dGetFreeHandler ( ) + void* dAlloc ( size_t ) + void* dRealloc ( void*, size_t, size_t ) + void dFree ( void*, size_t ) + void dWorldExportDIF ( dWorldID, void*, char* ) + int dTestRand ( ) + unsigned long dRand ( ) + unsigned long dRandGetSeed ( ) + void dRandSetSeed ( unsigned long ) + int dRandInt ( int ) + dReal dRandReal ( ) + void dPrintMatrix ( dReal*, int, int, char*, void* ) + void dMakeRandomVector ( dReal*, int, dReal ) + void dMakeRandomMatrix ( dReal*, int, int, dReal ) + void dClearUpperTriangle ( dReal*, int ) + dReal dMaxDifference ( dReal*, dReal*, int, int ) + dReal dMaxDifferenceLowerTriangle ( dReal*, dReal*, int ) + void dSetZero ( dReal*, int ) + void dSetValue ( dReal*, int, dReal ) + dReal dDot ( dReal*, dReal*, int ) + void dMultiply0 ( dReal*, dReal*, dReal*, int, int, + int ) + void dMultiply1 ( dReal*, dReal*, dReal*, int, int, + int ) + void dMultiply2 ( dReal*, dReal*, dReal*, int, int, + int ) + int dFactorCholesky ( dReal*, int ) + void dSolveCholesky ( dReal*, dReal*, int ) + int dInvertPDMatrix ( dReal*, dReal*, int ) + int dIsPositiveDefinite ( dReal*, int ) + void dFactorLDLT ( dReal*, dReal*, int, int ) + void dSolveL1 ( dReal*, dReal*, int, int ) + void dSolveL1T ( dReal*, dReal*, int, int ) + void dVectorScale ( dReal*, dReal*, int ) + void dSolveLDLT ( dReal*, dReal*, dReal*, int, int ) + void dLDLTAddTL ( dReal*, dReal*, dReal*, int, int ) + void dLDLTRemove ( dReal**, int*, dReal*, dReal*, int, + int, int, int ) + void dRemoveRowCol ( dReal*, int, int, int ) + dReal dDISTANCE ( dVector3, dVector3 ) _______________________________________________ PySoy-SVN mailing list PySoy-SVN@pysoy.org http://www.pysoy.org/mailman/listinfo/pysoy-svn