rendered paste body# ODE Declarations
#
# Copyright (C) 2006,2007,2008 PySoy Group
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
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# You should have received a copy of the GNU General Public License
# along with this program; if not, see http://www.gnu.org/licenses
#
# $Id: ode.pxd 971 2008-02-23 05:15:44Z DavidCzech $
cdef extern from "ode/ode.h" :
ctypedef enum :
#common
dEpsilon
dInfinity
#joint types
dJointTypeNone
dJointTypeBall
dJointTypeHinge
dJointTypeSlider
dJointTypeContact
dJointTypeUniversal
dJointTypeHinge2
dJointTypeFixed
dJointTypeNull
dJointTypeAMotor
dJointTypeLMotor
dJointTypePlane2D
dJointTypePR
#joint params
dParamLoStop
dParamHiStop
dParamVel
dParamFMax
dParamFudgeFactor
dParamBounce
dParamCFM
dParamStopERP
dParamStopCFM
dParamSuspensionERP
dParamSuspensionCFM
#angular motor modes
dAMotorUser
dAMotorEuler
#contact surface modes
dContactApprox0
dContactApprox1
dContactApprox1_1
dContactApprox1_2
dContactBounce
dContactFDir1
dContactMotion1
dContactMotion2
dContactMu2
dContactSlip1
dContactSlip2
dContactSoftCFM
dContactSoftERP
#collision.h
dSphereClass
dBoxClass
dCapsuleClass
dCylinderClass
dPlaneClass
dRayClass
dConvexClass
dGeomTransformClass
dTriMeshClass
dHeightfieldClass
dFirstSpaceClass
dSimpleSpaceClass
dHashSpaceClass
dQuadTreeSpaceClass
dLastSpaceClass
dFirstUserClass
dLastUserClass
dMaxUserClasses
ctypedef float dReal
ctypedef dReal dVector3[4]
ctypedef dReal dVector4[4]
ctypedef dReal dMatrix3[4*3]
ctypedef dReal dMatrix4[4*4]
ctypedef dReal dMatrix6[8*6]
ctypedef dReal dQuaternion[4]
cdef :
struct dxWorld
struct dxSpace
struct dxBody
struct dxGeom
struct dxJoint
struct dxJointGroup
struct dxTriMeshData
struct dxHeightfieldData
ctypedef dxWorld* dWorldID
ctypedef dxSpace* dSpaceID
ctypedef dxBody* dBodyID
ctypedef dxGeom* dGeomID
ctypedef dxJoint* dJointID
ctypedef dxJointGroup* dJointGroupID
ctypedef dxTriMeshData* dTryMeshDataID
ctypedef dxHeightfieldData* dHeightfieldDataID
cdef struct dMass :
dReal mass
dVector4 c
dMatrix3 I
cdef struct dJointFeedback :
dVector3 f1
dVector3 t1
dVector3 f2
dVector3 t2
cdef struct dContactGeom :
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
cdef struct dContact :
dSurfaceParameters surface
dContactGeom geom
dVector3 fdir1
cdef struct dJointFeedback :
dVector3 f1
dVector3 t1
dVector3 f2
dVector3 t2
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 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 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 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
dGetColliderFnFn *collider
dGetAABBFn *aabb
dAABBTestFn *aabb_test
dGeomDtorFn *dtor
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 ( FILE*, 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 )
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, FILE*, char* )
int dTestRand( )
unsigned long dRand( )
unsigned long dRandGetSeed( )
void dRandSetSeed ( unsigned long )
int dRandInt ( int )
dReal dRandReal( )
void dPrintMatrix ( dReal*, int, int, char*, FILE* )
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 )