物理引擎系统-ode

目录

物理引擎系统-ode

一、物理引擎系统-ode——dBodySetData

二、物理引擎系统-ode——dBodyGetData  

三、物理引擎系统-ode——dBodySetPosition  

四、物理引擎系统-ode——dBodySetRotation  

五、物理引擎系统-ode——dBodySetQuaternion  

六、物理引擎系统-ode——dBodySetLinearVel   

一、物理引擎系统-ode——dBodySetData 

void dBodySetData (dBodyID b, void *data)
{
  dAASSERT (b);
  b->userdata = data;
}

二、物理引擎系统-ode——dBodyGetData
void *dBodyGetData (dBodyID b)
{
  dAASSERT (b);
  return b->userdata;
}

三、物理引擎系统-ode——dBodySetPosition
void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z)
{
  dAASSERT (b);
  b->pos[0] = x;
  b->pos[1] = y;
  b->pos[2] = z;

  // notify all attached geoms that this body has moved
  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
    dGeomMoved (geom);
}

四、物理引擎系统-ode——dBodySetRotation
void dBodySetRotation (dBodyID b, const dMatrix3 R)
{
  dAASSERT (b && R);
  dQuaternion q;
  dRtoQ (R,q);
  dNormalize4 (q);
  b->q[0] = q[0];
  b->q[1] = q[1];
  b->q[2] = q[2];
  b->q[3] = q[3];
  dQtoR (b->q,b->R);

  // notify all attached geoms that this body has moved
  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
    dGeomMoved (geom);
}

五、物理引擎系统-ode——dBodySetQuaternion
void dBodySetQuaternion (dBodyID b, const dQuaternion q)
{
  dAASSERT (b && q);
  b->q[0] = q[0];
  b->q[1] = q[1];
  b->q[2] = q[2];
  b->q[3] = q[3];
  dNormalize4 (b->q);
  dQtoR (b->q,b->R);

  // notify all attached geoms that this body has moved
  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
    dGeomMoved (geom);
}

六、物理引擎系统-ode——dBodySetLinearVel 
void dBodySetLinearVel  (dBodyID b, dReal x, dReal y, dReal z)
{
  dAASSERT (b);
  b->lvel[0] = x;
  b->lvel[1] = y;
  b->lvel[2] = z;
}