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@@ -1,1854 +0,0 @@
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-//
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-// The graphics platform GLXcene https://github.com/glscene
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-//
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-unit Physix.ODEImport;
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-
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-(*******************************
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- * *
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- * Open Dynamics Engine, Copyright (C) 2001,2020 Russell L. Smith. *
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- * All rights reserved. Web: www.ode.org *
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- * *
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- * This library is free software; you can redistribute it and/or *
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- * modify it under the terms of EITHER: *
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- * (1) The GNU Lesser General Public License as published by the Free *
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- * Software Foundation; either version 2.1 of the License, or (at *
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- * your option) any later version. The text of the GNU Lesser *
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- * General Public License is included with this library in the *
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- * file LICENSE.TXT. *
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- * (2) The BSD-style license that is included with this library in *
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- * the file LICENSE-BSD.TXT. *
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- * *
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- * This library is distributed in the hope that it will be useful, *
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- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
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- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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- * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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- * *
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- *****************************)
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-
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-(*******************************
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- Some notes;
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-
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- Sometimes it's easier and faster to refer to the members of the objects
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- directly, like Body.Pos, Geom.Data or Body.Mass, instead of calling the built
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- in routines. Be very careful if you do this, because some of the built in
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- routines alter states when called.
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-
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- Examples
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-
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- bGeomSetBody(Geom, Body); // This method must be used so
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- Geom.Body := Body; // DON'T DO THIS
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-
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- Setting the mass of a body is another example. Typically, reading members is
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- fine, but before writing directly to member fields yourself, you should check
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- the c source and see what the function/procedure does. The source can be found
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- at http://www.q12.org/ode/
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-
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- *****************************)
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-
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-interface
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-// remove . from line below if you are using a generic ODE DLL
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-{$DEFINE VanillaODE}
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-{$IFNDEF VanillaODE}
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- {$DEFINE PARODE}
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-{$ENDIF}
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-
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-uses
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- System.Classes,
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- Physix.ModuleLoader;
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-
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-const
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-
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- // ODE precision:
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- //
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- // ODE can be run in Single or Double precision, Single is less precise,
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- // but requires less memory.
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- //
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- // If you choose to run in Single mode, you must deploy the single precision
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- // dll (this is default)
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- //
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- // If you choose to run in Double mode, you must deploy the double precision
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- // dll (named ode_double.dll and located in the dll directory)
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-
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- {$define cSINGLE} //Insert . before "$" to make ODE double based
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- {$IFDEF WIN32}
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- {$IFDEF cSINGLE}
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- ODEDLL = 'ode32s.dll';
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- {$ELSE}
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- ODEDLL = 'ode32d.dll';
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- {$ENDIF}
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- {$ENDIF}
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- {$IFDEF WIN64}
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- {$IFDEF cSINGLE}
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- ODEDLL = 'ode64s.dll';
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- {$ELSE}
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- ODEDLL = 'ode64d.dll';
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- {$ENDIF}
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- {$ENDIF}
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-
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- {$IFDEF UNIX}
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- ODEDLL = 'libode.so';
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- {$ENDIF}
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- {$IFDEF MACOS}
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- ODEDLL = 'libode.dylib';
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- {$ENDIF}
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- {$IFDEF DARWIN} // MacOS X
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- ODEDLL = 'libode.dylib';
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- {$ENDIF}
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-
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-
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-const
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-// enum (* TRIMESH_FACE_NORMALS, TRIMESH_LAST_TRANSFORMATION ; *)
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- TRIMESH_FACE_NORMALS = 0;
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- TRIMESH_LAST_TRANSFORMATION = 1;
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-
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-// Just generate any contacts (disables any contact refining).
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- CONTACTS_UNIMPORTANT = $80000000;
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-
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-// Change: New Type added, syntax enforcement
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-type TJointFlag = Integer;
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-
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-// These consts now have defined types
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-const
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- // if this flag is set, the joint was allocated in a joint group
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- dJOINT_INGROUP: TJointFlag = 1;
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- (* if this flag is set, the joint was attached with arguments (0,body).
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- our convention is to treat all attaches as (body,0), i.e. so node[0].body
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- is always nonzero, so this flag records the fact that the arguments were swapped *)
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- dJOINT_REVERSE: TJointFlag = 2;
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- (* if this flag is set, the joint can not have just one body attached to it,
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- it must have either zero or two bodies attached *)
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- dJOINT_TWOBODIES: TJointFlag = 4;
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-
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-
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-// Change: New Type added, syntax enforcement
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-type TdContactType = Integer;
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-
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-// These consts now have defined types
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-const
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- dContactMu2: TdContactType = $0001;
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- dContactFDir1: TdContactType = $0002;
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- dContactBounce: TdContactType = $0004;
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- dContactSoftERP: TdContactType = $0008;
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- dContactSoftCFM: TdContactType = $0010;
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- dContactMotion1: TdContactType = $0020;
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- dContactMotion2: TdContactType = $0040;
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- dContactMotionN: TdContactType = $0080;
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- dContactSlip1: TdContactType = $0100;
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- dContactSlip2: TdContactType = $0200;
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-
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- dContactApprox0: TdContactType = $0000;
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- dContactApprox1_1: TdContactType = $1000;
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- dContactApprox1_2: TdContactType = $2000;
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- dContactApprox1: TdContactType = $3000;
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-
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-// Change: New Type added, syntax enforcement
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-type TBodyFlags = Integer;
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-
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-// These consts now have defined types
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-const
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- dxBodyFlagFiniteRotation: TBodyFlags = 1; // use finite rotations
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- dxBodyFlagFiniteRotationAxis: TBodyFlags = 2; // use finite rotations only along axis
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- dxBodyDisabled: TBodyFlags = 4; // body is disabled
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- dxBodyNoGravity: TBodyFlags = 8; // body is not influenced by gravity
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-
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-type
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- {$ifdef cSINGLE}
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- TdReal = single;
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- {$else}
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- TdReal = double;
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- {$endif}
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-
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- PdReal = ^TdReal;
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-
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- {define cODEDebugEnabled} // Debug mode
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-
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- (* Pointers to internal ODE structures to reproduce C++ classes in Delphi *)
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- PdxJointGroup = ^TdxJointGroup;
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- TdJointGroupID = PdxJointGroup;
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-
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- TdxJointGroup = record
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- num : integer;
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- stack : pointer;
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- end;
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-
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- PdxJointLimitMotor = ^TdxJointLimitMotor;
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- TdxJointLimitMotor = record
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- vel,fmax : TdReal; // powered joint: velocity, max force
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- lostop,histop : TdReal; // joint limits, relative to initial position
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- fudge_factor : TdReal; // when powering away from joint limits
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- normal_cfm : TdReal; // cfm to use when not at a stop
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- stop_erp,stop_sfm : TdReal; // erp and cfm for when at joint limit
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- bounce : TdReal; // restitution factor
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- // variables used between getInfo1() and getInfo2()
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- limit : integer; // 0=free, 1=at lo limit, 2=at hi limit
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- limit_err : TdReal; // if at limit, amount over limit
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- end;
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-
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- TdRealArray = array[0..15] of TdReal;
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- PdRealArray = ^TdRealArray;
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-
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- // typedef dReal dVector33[4];
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- TdVector3 = array[0..3] of TdReal;//Q: Why isn't TdVector3 = array[0..2] of TdReal? A: Because of SIMD alignment.
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- PdVector3 = ^TdVector3;
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-
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- Pd3Axis = ^Td3Axis;
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- Td3Axis = array[0..2] of TdVector3;
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-
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- PdInteger3 = ^TdInteger3;
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- TdInteger3 = array[0..2] of integer;
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-
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- PdxJointLimitMotor3 = ^TdxJointLimitMotor3;
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- TdxJointLimitMotor3 = array[0..2] of TdxJointLimitMotor;
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-
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- // typedef dReal dVector4[4];
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- TdVector4 = array[0..3] of TdReal;
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- PdVector4 = ^TdVector4;
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-
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- // typedef dReal dMatrix3[4*3];
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- TdMatrix3 = array[0..4*3-1] of TdReal;
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- PdMatrix3 = ^TdMatrix3;
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-
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- TdMatrix3_As3x4 = array[0..2, 0..3] of TdReal;
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- PdMatrix3_As3x4 = ^TdMatrix3_As3x4;
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-
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- // typedef dReal dMatrix4[4*4];
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- TdMatrix4 = array[0..4*4-1] of TdReal;
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- PdMatrix4 = ^TdMatrix4;
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-
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- // typedef dReal dMatrix6[8*6];
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- TdMatrix6 = array[0..8*6-1] of TdReal;
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- PdMatrix6 = ^TdMatrix6;
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-
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- // typedef dReal dQuaternion[4];
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- TdQuaternion = TdVector4;//array[0..3] of TdReal;
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- PdQuaternion = ^TdQuaternion;
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-
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- // No typedef for AABB
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- TdAABB = array[0..5] of TdReal;
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-
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-
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- TdMass = record
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- mass : TdReal; // total mass of the rigid body
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- c : TdVector4; // center of gravity position in body frame (x,y,z)
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- I : TdMatrix3; // 3x3 inertia tensor in body frame, about POR
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- end;
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- PdMass = ^TdMass;
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-
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- TdxAutoDisable = record
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- idle_time : TdReal; // time the body needs to be idle to auto-disable it
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- idle_steps : integer; // steps the body needs to be idle to auto-disable it
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- linear_average_threashold : TdReal; // linear (squared) average velocity threshold
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- angular_average_threashold : TdReal; // angular (squared) average velocity threshold
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- average_samples : longword; // size of the average_lvel and average_avel buffers
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- end;
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- TdxDampingParameters = record
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- linear_scale : TdReal; // multiply the linear velocity by (1 - scale)
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- angular_scale : TdReal; // multiply the angular velocity by (1 - scale)
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- linear_threahold : TdReal; // linear (squared) average speed threshold
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- angular_threashold : TdReal; // angular (squared) average speed threshold
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- end;
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- TdxContactParameters = record
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- max_vel : TdReal; // maximum correcting velocity
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- min_depth : TdReal; // thickness of 'surface layer'
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- end;
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- TdxQuickStepParameters = record
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- num_iterations : integer; // number of SOR iterations to perform
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- w : TdReal; // the SOR over-relaxation parameter
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- end;
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- PdxGeom = ^TdxGeom;
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- PPdxGeom = ^PdxGeom;
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-
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-// Whenever a body has its position or rotation changed during the
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-// timestep, the callback will be called (with body as the argument).
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-// Use it to know which body may need an update in an external
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-// structure (like a 3D engine).
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- TdMovedCallback = procedure(o1: PdxGeom); cdecl;
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-
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-// Per triangle callback. Allows the user to say if he wants a collision with
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-// a particular triangle.
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- TdTriCallback = function(TriMesh,RefObject : PdxGeom; TriangleIndex : integer) : integer;
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-
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-// Per object callback. Allows the user to get the list of triangles in 1
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-// shot. Maybe we should remove this one.
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- TdTriArrayCallback = procedure(TriMesh,RefObject : PdxGeom; TriIndices:PIntegerArray; TriCount : integer);
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-
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-// Allows the user to say if a ray collides with a triangle on barycentric
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-// coords. The user can for example sample a texture with alpha transparency
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-// to determine if a collision should occur.
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- TdTriRayCallback = function(TriMesh,Ray : PdxGeom; TriangleIndex : integer; u,v:TdReal) : integer;
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-
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-
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- PdxWorld = ^TdxWorld;
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-
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- PdObject = ^TdObject;
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- PPdObject = ^PdObject;
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- TdObject = record
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- World : PdxWorld; // world this object is in
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- next : PdObject; // next object of this type in list
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- tome : PPdObject; // pointer to previous object's next ptr
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- userdata : pointer; // user settable data
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- tag : integer; // used by dynamics algorithms
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- end;
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-
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-
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- PdxBody = ^TdxBody;
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- PdxJoint= ^TdxJoint;
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- TdJointID = PdxJoint;
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-
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- {$IFDEF PARODE}
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- TdJointBreakCallback = procedure(joint: TdJointID); cdecl;
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-
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- TJointBreakMode = Integer;
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-
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- PdxJointBreakInfo = ^TdxJointBreakInfo;
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- TdxJointBreakInfo = record
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- flags : integer;
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- b1MaxF:TdVector3; // maximum force on body 1
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- b1MaxT:TdVector3; // maximum torque on body 1
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- b2MaxF:TdVector3; // maximum force on body 2
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- b2MaxT:TdVector3; // maximum torque on body 2
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- callback:TdJointBreakCallback; // function that is called when this joint breaks
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- end;
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- {$ENDIF}
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-
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- PdxJointNode = ^TdxJointNode;
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- TdxJointNode = record
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- joint : PdxJoint; // pointer to enclosing dxJoint object
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- body : PdxBody; // *other* body this joint is connected to
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- next : PdxJointNode; // next node in body's list of connected joints
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- end;
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-
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- // info returned by getInfo1 function. the constraint dimension is m (<=6).
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- // i.e. that is the total number of rows in the jacobian. `nub' is the
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- // number of unbounded variables (which have lo,hi = -/+ infinity).
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- TJointInfo1 = record
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- m,nub : integer;
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- end;
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-
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- // info returned by getInfo2 function
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- TJointInfo2 = record
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- // integrator parameters: frames per second (1/stepsize), default error
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- // reduction parameter (0..1).
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- fps,erp : TdReal;
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- // for the first and second body, pointers to two (linear and angular)
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- // n*3 jacobian sub matrices, stored by rows. these matrices will have
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- // been initialized to 0 on entry. if the second body is zero then the
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- // J2xx pointers may be 0.
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- J1l,J1a,J2l,J2a : pdReal;
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- // elements to jump from one row to the next in J's
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- rowskip : integer;
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- // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
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- // "constraint force mixing" vector. c is set to zero on entry, cfm is
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- // set to a constant value (typically very small or zero) value on entry.
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- c,cfm : pdReal;
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- // lo and hi limits for variables (set to -/+ infinity on entry).
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- lo,hi : pdReal;
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- // findex vector for variables. see the LCP solver interface for a
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- // description of what this does. this is set to -1 on entry.
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- // note that the returned indexes are relative to the first index of
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- // the constraint.
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- findex : pinteger;
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- end;
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- TdxJoint = record
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- baseObject : TdObject;
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- Info1 : TJointInfo1;
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- Info2 : TJointInfo2;
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- end;
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- TdxJointNull = TdxJoint;
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-
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- PdxJointBall = ^TdxJointBall;
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- TdxJointBall = record
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- BaseJoint : TdxJoint;
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- anchor1 : TdVector3;// anchor w.r.t first body
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- anchor2 : TdVector3;// anchor w.r.t second body
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- erp : TdReal; // error reduction
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- cfm : TdReal; // constraint force mix in
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- end;
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-
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- PdxJointHinge = ^TdxJointHinge;
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- TdxJointHinge = record
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- BaseJoint : TdxJoint;
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- anchor1 : TdVector3; // anchor w.r.t first body
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- anchor2 : TdVector3; // anchor w.r.t second body
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- axis1 : TdVector3; // axis w.r.t first body
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- axis2 : TdVector3; // axis w.r.t second body
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- qrel : tdQuaternion; // initial relative rotation body1 -> body2
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- limot : TdxJointLimitMotor; // limit and motor information
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- end;
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-
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- PdxJointUniversial = ^TdxJointUniversial;
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- TdxJointUniversial = record
|
|
|
- BaseJoint : TdxJoint;
|
|
|
- anchor1 : TdVector3; // anchor w.r.t first body
|
|
|
- anchor2 : TdVector3; // anchor w.r.t second body
|
|
|
- axis1 : TdVector3; // axis w.r.t first body
|
|
|
- axis2 : TdVector3; // axis w.r.t second body
|
|
|
- qrel1 : tdQuaternion; // initial relative rotation body1 -> virtual cross piece
|
|
|
- qrel2 : tdQuaternion; // initial relative rotation virtual cross piece -> body2
|
|
|
- limot1 : TdxJointLimitMotor; // limit and motor information for axis1
|
|
|
- limot2 : TdxJointLimitMotor;// limit and motor information for axis2
|
|
|
- end;
|
|
|
-
|
|
|
- PdxJointPR = ^TdxJointPR;
|
|
|
- TdxJointPR = record
|
|
|
- BaseJoint : TdxJoint;
|
|
|
-
|
|
|
- anchor2:TdVector3; ///< @brief Position of the rotoide articulation
|
|
|
- ///< w.r.t second body.
|
|
|
- ///< @note Position of body 2 in world frame +
|
|
|
- ///< anchor2 in world frame give the position
|
|
|
- ///< of the rotoide articulation
|
|
|
- axisR1:TdVector3 ; ///< axis of the rotoide articulation w.r.t first body.
|
|
|
- ///< @note This is considered as axis1 from the parameter
|
|
|
- ///< view.
|
|
|
- axisR2:TdVector3 ; ///< axis of the rotoide articulation w.r.t second body.
|
|
|
- ///< @note This is considered also as axis1 from the
|
|
|
- ///< parameter view
|
|
|
- axisP1:TdVector3; ///< axis for the prismatic articulation w.r.t first body.
|
|
|
- ///< @note This is considered as axis2 in from the parameter
|
|
|
- ///< view
|
|
|
- qrel:TdQuaternion; ///< initial relative rotation body1 -> body2.
|
|
|
- offset:TdVector3; ///< @brief vector between the body1 and the rotoide
|
|
|
- ///< articulation.
|
|
|
- ///<
|
|
|
- ///< Going from the first to the second in the frame
|
|
|
- ///< of body1.
|
|
|
- ///< That should be aligned with body1 center along axisP
|
|
|
- ///< This is calculated when the axis are set.
|
|
|
- limotR:TdxJointLimitMotor; ///< limit and motor information for the rotoide articulation.
|
|
|
- limotP:TdxJointLimitMotor; ///< limit and motor information for the prismatic articulation.
|
|
|
- end;
|
|
|
-
|
|
|
- PdxJointPiston = ^TdxJointPiston;
|
|
|
- TdxJointPiston = record
|
|
|
- BaseJoint : TdxJoint;
|
|
|
-
|
|
|
- axis1:TdVector3; ///< Axis of the prismatic and rotoide w.r.t first body
|
|
|
- axis2:TdVector3; ///< Axis of the prismatic and rotoide w.r.t second body
|
|
|
-
|
|
|
- qrel:TdQuaternion; ///< Initial relative rotation body1 -> body2
|
|
|
-
|
|
|
- /// Anchor w.r.t first body.
|
|
|
- /// This is the same as the offset for the Slider joint
|
|
|
- /// @note To find the position of the anchor when the body 1 has moved
|
|
|
- /// you must add the position of the prismatic joint
|
|
|
- /// i.e anchor = R1 * anchor1 + dJointGetPistonPosition() * (R1 * axis1)
|
|
|
- anchor1:TdVector3;
|
|
|
- anchor2:TdVector3; //< anchor w.r.t second body
|
|
|
-
|
|
|
- /// limit and motor information for the prismatic
|
|
|
- /// part of the joint
|
|
|
- limotP:TdxJointLimitMotor;
|
|
|
-
|
|
|
- /// limit and motor information for the rotoide
|
|
|
- /// part of the joint
|
|
|
- limotR:TdxJointLimitMotor;
|
|
|
- end;
|
|
|
-
|
|
|
- PdxJointSlider = ^TdxJointSlider;
|
|
|
- TdxJointSlider = record
|
|
|
- BaseJoint : TdxJoint;
|
|
|
- axis1:TdVector3; // axis w.r.t first body
|
|
|
- qrel:TdQuaternion; // initial relative rotation body1 -> body2
|
|
|
- offset:TdVector3; // point relative to body2 that should be
|
|
|
- // aligned with body1 center along axis1
|
|
|
- limot:TdxJointLimitMotor; // limit and motor information
|
|
|
- end;
|
|
|
-
|
|
|
- PdxJointHinge2 = ^TdxJointHinge2;
|
|
|
- TdxJointHinge2 = record
|
|
|
- BaseJoint : TdxJoint;
|
|
|
-
|
|
|
- anchor1:TdVector3 ; // anchor w.r.t first body
|
|
|
- anchor2:TdVector3 ; // anchor w.r.t second body
|
|
|
- axis1:TdVector3; // axis 1 w.r.t first body
|
|
|
- axis2:TdVector3; // axis 2 w.r.t second body
|
|
|
- c0,s0:TdReal; // cos,sin of desired angle between axis 1,2
|
|
|
- v1,v2:TdVector3; // angle ref vectors embedded in first body
|
|
|
- limot1:TdxJointLimitMotor; // limit+motor info for axis 1
|
|
|
- limot2:TdxJointLimitMotor; // limit+motor info for axis 2
|
|
|
- susp_erp,susp_cfm:TdReal; // suspension parameters (erp,cfm)
|
|
|
- end;
|
|
|
-
|
|
|
- TdxJointAMotor = record
|
|
|
- BaseJoint : TdxJoint;
|
|
|
-
|
|
|
- num:integer; // number of axes (0..3)
|
|
|
- mode:integer; // a dAMotorXXX constant
|
|
|
- rel:TdInteger3; // what the axes are relative to (global,b1,b2)
|
|
|
- axis:Td3Axis; // three axes
|
|
|
- limot:TdxJointLimitMotor3; // limit+motor info for axes
|
|
|
- angle:TdVector3; // user-supplied angles for axes
|
|
|
- // these vectors are used for calculating euler angles
|
|
|
- reference1:TdVector3; // original axis[2], relative to body 1
|
|
|
- reference2:TdVector3; // original axis[0], relative to body 2
|
|
|
- end;
|
|
|
-
|
|
|
- TdxJointLMotor = record
|
|
|
- BaseJoint : TdxJoint;
|
|
|
-
|
|
|
- num: integer;
|
|
|
- rel:TdInteger3;
|
|
|
- axis:Td3Axis; // three axes
|
|
|
- limot:TdxJointLimitMotor3; // limit+motor info for axes
|
|
|
- end;
|
|
|
-
|
|
|
- TdxJointPlane2D = record
|
|
|
- BaseJoint : TdxJoint;
|
|
|
- row_motor_x:integer;
|
|
|
- row_motor_y:integer;
|
|
|
- row_motor_angle:integer;
|
|
|
- motor_x:TdxJointLimitMotor;
|
|
|
- motor_y:TdxJointLimitMotor;
|
|
|
- motor_angle:TdxJointLimitMotor;
|
|
|
- end;
|
|
|
-
|
|
|
- TdxJointFixed = record
|
|
|
- BaseJoint : TdxJoint;
|
|
|
- qrel:TdQuaternion; // initial relative rotation body1 -> body2
|
|
|
- offset:TdVector3; // relative offset between the bodies
|
|
|
- erp:TdReal; // error reduction parameter
|
|
|
- cfm:TdReal; // constraint force mix-in
|
|
|
- end;
|
|
|
-
|
|
|
- // position vector and rotation matrix for geometry objects that are not
|
|
|
- // connected to bodies.
|
|
|
- PdxPosR = ^TdxPosR;
|
|
|
- TdxPosR = record
|
|
|
- pos : TdVector3;
|
|
|
- R : TdMatrix3;
|
|
|
- end;
|
|
|
-
|
|
|
- TdxBody = record
|
|
|
- BaseObject : TdObject;
|
|
|
- {$ifdef cSINGLE}
|
|
|
- Padding : byte;
|
|
|
- {$endif}
|
|
|
- firstjoint : TdJointID; // list of attached joints
|
|
|
- flags : integer; // some dxBodyFlagXXX flags
|
|
|
- geom : PdxGeom; // first collision geom associated with body
|
|
|
- mass : TdMass; // mass parameters about POR
|
|
|
- invI : TdMatrix3 ; // inverse of mass.I
|
|
|
- invMass : TdReal; // 1 / mass.mass
|
|
|
- posr : TdxPosR; // position and orientation of point of reference
|
|
|
- q : TdQuaternion; // orientation quaternion
|
|
|
- lvel,avel : TdVector3; // linear and angular velocity of POR
|
|
|
- facc,tacc : TdVector3 ; // force and torque accululators
|
|
|
- finite_rot_axis : TdVector3 ; // finite rotation axis, unit length or 0=none
|
|
|
- adis : TdxAutoDisable; // auto-disable parameters
|
|
|
- adis_timeleft : TdReal; // time left to be idle
|
|
|
- adis_stepsleft : integer; // steps left to be idle
|
|
|
- average_lvel_buffer : pdVector3; // buffer for the linear average velocity calculation
|
|
|
- average_avel_buffer : pdVector3; // buffer for the angular average velocity calculation
|
|
|
- average_counter : longword; // counter/index to fill the average-buffers
|
|
|
- average_ready : integer; // indicates ( with = 1 ), if the Body's buffers are ready for average-calculations
|
|
|
- moved_callback : TdMovedCallback; // let the user know the body moved
|
|
|
- dampingp : TdxDampingParameters; // damping parameters, depends on flags
|
|
|
- max_angular_speed : TdReal; // limit the angular velocity to this magnitude
|
|
|
- end;
|
|
|
-
|
|
|
- TBodyList = class(TList)
|
|
|
- private
|
|
|
- function GetItems(i: integer): PdxBody;
|
|
|
- procedure SetItems(i: integer; const Value: PdxBody);
|
|
|
- public
|
|
|
- property Items[i : integer] : PdxBody read GetItems write SetItems; default;
|
|
|
- procedure DeleteAllBodies;
|
|
|
- end;
|
|
|
-
|
|
|
-
|
|
|
-(*struct dxWorld : public dBase {
|
|
|
- dxBody *firstbody; // body linked list
|
|
|
- dxJoint *firstjoint; // joint linked list
|
|
|
- int nb,nj; // number of bodies and joints in lists
|
|
|
- dVector3 gravity; // gravity vector (m/s/s)
|
|
|
- dReal global_erp; // global error reduction parameter
|
|
|
- dReal global_cfm; // global costraint force mixing parameter
|
|
|
-};*)
|
|
|
-
|
|
|
- TdxWorld = record //(TdBase)
|
|
|
- firstbody : PdxBody; // body linked list
|
|
|
- firstjoint : PdxJoint; // joint linked list
|
|
|
- nb,nj : integer; // number of bodies and joints in lists
|
|
|
- gravity : TdVector3; // gravity vector (m/s/s)
|
|
|
- global_erp : TdReal; // global error reduction parameter
|
|
|
- global_cfm : TdReal; // global costraint force mixing parameter
|
|
|
- adis : TdxAutoDisable;
|
|
|
- body_flags : integer;
|
|
|
- qs : TdxQuickStepParameters;
|
|
|
- contactp : TdxContactParameters;
|
|
|
- dampingp : TdxDampingParameters;
|
|
|
- max_angular_speed : TdReal;
|
|
|
- end;
|
|
|
-
|
|
|
-
|
|
|
- TdJointFeedback = record
|
|
|
- f1 : TdVector3; // force that joint applies to body 1
|
|
|
- t1 : TdVector3; // torque that joint applies to body 1
|
|
|
- f2 : TdVector3; // force that joint applies to body 2
|
|
|
- t2 : TdVector3; // torque that joint applies to body 2
|
|
|
- end;
|
|
|
-
|
|
|
- PTdJointFeedback = ^TdJointFeedback;
|
|
|
-
|
|
|
- TdErrorType =
|
|
|
- (d_ERR_UNKNOWN, // unknown error
|
|
|
- d_ERR_IASSERT, // user assertion failed */
|
|
|
- d_ERR_UASSERT, // user assertion failed */
|
|
|
- d_ERR_LCP);
|
|
|
-
|
|
|
-
|
|
|
- TdJointTypeNumbers =
|
|
|
- (dJointTypeNone, // or "unknown"
|
|
|
- dJointTypeBall,
|
|
|
- dJointTypeHinge,
|
|
|
- dJointTypeSlider,
|
|
|
- dJointTypeContact,
|
|
|
- dJointTypeUniversal,
|
|
|
- dJointTypeHinge2,
|
|
|
- dJointTypeFixed,
|
|
|
- dJointTypeNull,
|
|
|
- dJointTypeAMotor,
|
|
|
- dJointTypeLMotor,
|
|
|
- dJointTypePlane2D,
|
|
|
- dJointTypePR,
|
|
|
- dJointTypePU,
|
|
|
- dJointTypePiston
|
|
|
- );
|
|
|
-
|
|
|
- TdAngularMotorModeNumbers =
|
|
|
- (dAMotorUser,
|
|
|
- dAMotorEuler);
|
|
|
-
|
|
|
-
|
|
|
- TdSurfaceParameters = record
|
|
|
- // must always be defined
|
|
|
- mode : integer;
|
|
|
- mu : TdReal;
|
|
|
-
|
|
|
- // only defined if the corresponding flag is set in mode
|
|
|
- mu2,
|
|
|
- bounce,
|
|
|
- bounce_vel,
|
|
|
- soft_erp,
|
|
|
- soft_cfm,
|
|
|
- motion1,motion2,motionN,
|
|
|
- slip1,slip2 : TdReal
|
|
|
- end;
|
|
|
-
|
|
|
- TdContactGeom = record
|
|
|
- pos : TdVector3;
|
|
|
- normal : TdVector3;
|
|
|
- depth : TdReal;
|
|
|
- g1,g2 : PdxGeom;
|
|
|
- side1,side2 : integer;
|
|
|
- end;
|
|
|
-
|
|
|
- PdContactGeom = ^TdContactGeom;
|
|
|
-
|
|
|
- TdContact = record
|
|
|
- surface : TdSurfaceParameters;
|
|
|
- geom : TdContactGeom;
|
|
|
- fdir1 : TdVector3;
|
|
|
- end;
|
|
|
- PdContact = ^TdContact;
|
|
|
-
|
|
|
- // Collission callback structure
|
|
|
- TdNearCallback = procedure(data : pointer; o1, o2 : PdxGeom); cdecl;
|
|
|
-
|
|
|
-
|
|
|
- TdColliderFn = function(o1, o2 : PdxGeom; flags : Integer;
|
|
|
- contact : PdContactGeom; skip : Integer) : Integer; cdecl;
|
|
|
- TdGetColliderFnFn = function(num : Integer) : TdColliderFn; cdecl;
|
|
|
- TdGetAABBFn = procedure(g : PdxGeom; var aabb : TdAABB); cdecl;
|
|
|
- TdGeomDtorFn = procedure(o : PdxGeom); cdecl;
|
|
|
- TdAABBTestFn = function(o1, o2 : PdxGeom; const aabb2 : TdAABB) : Integer; cdecl;
|
|
|
-
|
|
|
-(*typedef struct dGeomClass {
|
|
|
- int bytes;
|
|
|
- dGetColliderFnFn *collider;
|
|
|
- dGetAABBFn *aabb;
|
|
|
- dAABBTestFn *aabb_test;
|
|
|
- dGeomDtorFn *dtor;
|
|
|
-} dGeomClass;*)
|
|
|
-
|
|
|
- TdGeomClass = record
|
|
|
- bytes : integer; // extra storage size
|
|
|
- collider : TdGetColliderFnFn; // collider function
|
|
|
- aabb : TdGetAABBFn; // bounding box function
|
|
|
- aabb_test : TdAABBTestFn; // aabb tester, can be 0 for none
|
|
|
- dtor : TdGeomDtorFn; // destructor, can be 0 for none
|
|
|
- end;
|
|
|
-
|
|
|
- PdGeomClass = ^TdGeomClass;
|
|
|
-
|
|
|
- (*struct dxSpace : public dBase {
|
|
|
- int type; // don't want to use RTTI
|
|
|
- virtual void destroy()=0;
|
|
|
- virtual void add (dGeomID)=0;
|
|
|
- virtual void remove (dGeomID)=0;
|
|
|
- virtual void collide (void *data, dNearCallback *callback)=0;
|
|
|
- virtual int query (dGeomID)=0;
|
|
|
-};*)
|
|
|
-
|
|
|
- PdxSpace = ^TdxSpace;
|
|
|
-
|
|
|
- TdRealHugeArray = array[0..65535] of TdReal;
|
|
|
- PdRealHugeArray = ^TdRealHugeArray;
|
|
|
-
|
|
|
- // Tri-list collider
|
|
|
- TdIntegerArray = array[0..65535] of Integer;
|
|
|
- PdIntegerArray = ^TdIntegerArray;
|
|
|
-
|
|
|
- TdVector3Array = array[0..65535] of TdVector3;
|
|
|
- PdVector3Array = ^TdVector3Array;
|
|
|
-
|
|
|
-(*struct dxTriMeshData{
|
|
|
- Model BVTree;
|
|
|
- MeshInterface Mesh;
|
|
|
-
|
|
|
- dxTriMeshData();
|
|
|
- ~dxTriMeshData();
|
|
|
-
|
|
|
- void Build(const void* Vertices, int VertexStide, int VertexCount,
|
|
|
- const void* Indices, int IndexCount, int TriStride,
|
|
|
- const void* Normals,
|
|
|
- bool Single);
|
|
|
-
|
|
|
- /* aabb in model space */
|
|
|
- dVector3 AABBCenter;
|
|
|
- dVector3 AABBExtents;
|
|
|
-
|
|
|
- /* data for use in collison resolution */
|
|
|
- const void* Normals;
|
|
|
- Matrix4x4 last_trans;
|
|
|
-};*)
|
|
|
- TdxTriMeshData = record
|
|
|
- unknown : byte; //
|
|
|
- end;
|
|
|
- PdxTriMeshData = ^TdxTriMeshData;
|
|
|
-
|
|
|
- TdxHeightfieldData = record
|
|
|
- m_fWidth : TdReal;
|
|
|
- m_fDepth : TdReal;
|
|
|
- m_fSampleWidth : TdReal;
|
|
|
- m_fSampleDepth : TdReal;
|
|
|
- m_fInvSampleWidth : TdReal;
|
|
|
- m_fInvSampleDepth : TdReal;
|
|
|
- m_fHalfWidth : TdReal;
|
|
|
- m_fHalfDepth : TdReal;
|
|
|
- m_fMinHeight : TdReal;
|
|
|
- m_fMaxHeight : TdReal;
|
|
|
- m_fThickness : TdReal;
|
|
|
- m_fScale : TdReal;
|
|
|
- m_fOffset : TdReal;
|
|
|
- m_nWidthSamples : integer;
|
|
|
- m_nDepthSamples : integer;
|
|
|
- m_bCopyHeightData : integer;
|
|
|
- m_bWrapMode : integer;
|
|
|
- m_nGetHeightMode : integer;
|
|
|
- m_pHeightData : pointer;
|
|
|
- m_pUserData : pointer;
|
|
|
- m_contacts : PdContactGeom;
|
|
|
- end;
|
|
|
- PdxHeightfieldData = ^TdxHeightfieldData;
|
|
|
-
|
|
|
-
|
|
|
-(*//simple space - reports all n^2 object intersections
|
|
|
-struct dxSimpleSpace : public dxSpace {
|
|
|
- dGeomID first;
|
|
|
- void destroy();
|
|
|
- void add (dGeomID);
|
|
|
- void remove (dGeomID);
|
|
|
- void collide (void *data, dNearCallback *callback);
|
|
|
- int query (dGeomID);
|
|
|
-};*)
|
|
|
-
|
|
|
-
|
|
|
- PdxSimpleSpace = ^TdxSimpleSpace;
|
|
|
-
|
|
|
-(*//currently the space 'container' is just a list of the geoms in the space.
|
|
|
-struct dxHashSpace : public dxSpace {
|
|
|
- dxGeom *first;
|
|
|
- int global_minlevel; // smallest hash table level to put AABBs in
|
|
|
- int global_maxlevel; // objects that need a level larger than this will be
|
|
|
- // put in a "big objects" list instead of a hash table
|
|
|
- void destroy();
|
|
|
- void add (dGeomID);
|
|
|
- void remove (dGeomID);
|
|
|
- void collide (void *data, dNearCallback *callback);
|
|
|
- int query (dGeomID);
|
|
|
-};*)
|
|
|
-
|
|
|
- PdxHashSpace = ^TdxHashSpace;
|
|
|
-
|
|
|
- (*typedef struct dGeomSpaceData {
|
|
|
- dGeomID next;
|
|
|
-} dGeomSpaceData; *)
|
|
|
-
|
|
|
- TdGeomSpaceData = record
|
|
|
- next : PdxGeom;
|
|
|
- end;
|
|
|
-
|
|
|
- (*// common data for all geometry objects. the class-specific data area follows
|
|
|
- // this structure. pos and R will either point to a separately allocated
|
|
|
- // buffer (if body is 0 - pos points to the dxPosR object) or to the pos and
|
|
|
- // R of the body (if body nonzero).
|
|
|
- struct dxGeom { // a dGeomID is a pointer to this
|
|
|
- dxGeomClass *_class; // class of this object
|
|
|
- void *data; // user data pointer
|
|
|
- dBodyID body; // dynamics body associated with this object (if any)
|
|
|
- dReal *pos; // pointer to object's position vector
|
|
|
- dReal *R; // pointer to object's rotation matrix
|
|
|
- dSpaceID spaceid; // the space this object is in
|
|
|
- dGeomSpaceData space; // reserved for use by space this object is in
|
|
|
- dReal *space_aabb; // ptr to aabb array held by dSpaceCollide() fn
|
|
|
- // class-specific data follows here, with proper alignment.
|
|
|
- };*)
|
|
|
-
|
|
|
- TdxGeom = record // a dGeomID is a pointer to this
|
|
|
- _type : integer; // class of this object
|
|
|
-
|
|
|
- {$ifdef cSINGLE}
|
|
|
- Padding : byte;
|
|
|
- {$endif}
|
|
|
- gflags : integer;
|
|
|
-
|
|
|
- data : pointer; // user data pointer
|
|
|
- Body : PdxBody ; // dynamics body associated with this object (if any)
|
|
|
- body_next : PdxGeom; // next geom in body's linked list of associated geoms
|
|
|
- final_posr : PdxPosR; // final position of the geom in world coordinates
|
|
|
- offset_posr : PdxPosR; // offset from body in local coordinates
|
|
|
-
|
|
|
- next : PdxGeom;
|
|
|
- tome : PPdxGeom;
|
|
|
- parent_space : Pdxspace;
|
|
|
- aabb : TdAABB;
|
|
|
- category_bits,collide_bits : longword;
|
|
|
- end;
|
|
|
-
|
|
|
- TGeomList = class(TList)
|
|
|
- private
|
|
|
- function GetItems(i: integer): PdxGeom;
|
|
|
- procedure SetItems(i: integer; const Value: PdxGeom);
|
|
|
- public
|
|
|
- property Items[i : integer] : PdxGeom read GetItems write SetItems; default;
|
|
|
- procedure DeleteAllGeoms(DeleteDataAsObject : boolean=false);
|
|
|
- end;
|
|
|
-
|
|
|
-
|
|
|
- TdxSpace = record
|
|
|
- baseGeom : TdxGeom;
|
|
|
- count : integer;
|
|
|
- first : PdxGeom;
|
|
|
- cleanup : integer;
|
|
|
- current_index : integer;
|
|
|
- current_geom : PdxGeom;
|
|
|
- lock_count : integer;
|
|
|
- end;
|
|
|
-
|
|
|
- // Copies settings from TdxSpace, beacause pascal doeasn't do inheritance
|
|
|
- // for records
|
|
|
- TdxSimpleSpace = TdxSpace;
|
|
|
-
|
|
|
- // Copies settings from TdxSpace, beacause pascal doeasn't do inheritance
|
|
|
- // for records
|
|
|
- TdxHashSpace = record
|
|
|
- BaseSpace : TdxSpace;
|
|
|
- global_minlevel : integer;
|
|
|
- global_maxlevel : integer;
|
|
|
- end;
|
|
|
-
|
|
|
- TdxQuadTreeSpace = record
|
|
|
- BaseSpace : TdxSpace;
|
|
|
- Blocks : pointer;
|
|
|
- DirtyList : pointer;
|
|
|
- end;
|
|
|
-
|
|
|
-// TJointParams = (
|
|
|
-// parameters for limits and motors
|
|
|
-// Change: New Type added, sintax enforcement
|
|
|
- TJointParams = Integer;
|
|
|
-
|
|
|
-// These consts now have defined types
|
|
|
-
|
|
|
-{$IFDEF PARODE}
|
|
|
- const
|
|
|
- dJOINT_BREAK_UNKNOWN:TJointBreakMode = $0000;
|
|
|
- dJOINT_BROKEN:TJointBreakMode = $0001;
|
|
|
- dJOINT_DELETE_ON_BREAK:TJointBreakMode = $0002;
|
|
|
- dJOINT_BREAK_AT_B1_FORCE:TJointBreakMode = $0004;
|
|
|
- dJOINT_BREAK_AT_B1_TORQUE:TJointBreakMode = $0008;
|
|
|
- dJOINT_BREAK_AT_B2_FORCE:TJointBreakMode = $0010;
|
|
|
- dJOINT_BREAK_AT_B2_TORQUE:TJointBreakMode = $0020;
|
|
|
-{$ENDIF}
|
|
|
-
|
|
|
- const
|
|
|
- _priv_dParamLoStop = $000;
|
|
|
- _priv_dParamLoStop2 = $100;
|
|
|
- _priv_dParamLoStop3 = $200;
|
|
|
- const
|
|
|
- dParamLoStop: TJointParams = _priv_dParamLoStop;
|
|
|
- dParamHiStop: TJointParams = _priv_dParamLoStop + 1;
|
|
|
- dParamVel: TJointParams = _priv_dParamLoStop + 2;
|
|
|
- dParamFMax: TJointParams = _priv_dParamLoStop + 3;
|
|
|
- dParamFudgeFactor: TJointParams = _priv_dParamLoStop + 4;
|
|
|
- dParamBounce: TJointParams = _priv_dParamLoStop + 5;
|
|
|
- dParamCFM: TJointParams = _priv_dParamLoStop + 6;
|
|
|
- dParamStopERP: TJointParams = _priv_dParamLoStop + 7;
|
|
|
- dParamStopCFM: TJointParams = _priv_dParamLoStop + 8;
|
|
|
- // parameters for suspension
|
|
|
- dParamSuspensionERP: TJointParams = _priv_dParamLoStop + 9;
|
|
|
- dParamSuspensionCFM: TJointParams = _priv_dParamLoStop + 10;
|
|
|
- dParamERP: TJointParams = _priv_dParamLoStop + 11;
|
|
|
-
|
|
|
- dParamGroup1: TJointParams = $000;
|
|
|
- dParamLoStop1: TJointParams = _priv_dParamLoStop;
|
|
|
- dParamHiStop1: TJointParams = _priv_dParamLoStop + 1;
|
|
|
- dParamVel1: TJointParams = _priv_dParamLoStop + 2;
|
|
|
- dParamFMax1: TJointParams = _priv_dParamLoStop + 3;
|
|
|
- dParamFudgeFactor1: TJointParams = _priv_dParamLoStop + 4;
|
|
|
- dParamBounce1: TJointParams = _priv_dParamLoStop + 5;
|
|
|
- dParamCFM1: TJointParams = _priv_dParamLoStop + 6;
|
|
|
- dParamStopERP1: TJointParams = _priv_dParamLoStop + 7;
|
|
|
- dParamStopCFM1: TJointParams = _priv_dParamLoStop + 8;
|
|
|
- // parameters for suspension
|
|
|
- dParamSuspensionERP1: TJointParams = _priv_dParamLoStop + 9;
|
|
|
- dParamSuspensionCFM1: TJointParams = _priv_dParamLoStop + 10;
|
|
|
- dParamERP1: TJointParams = _priv_dParamLoStop + 11;
|
|
|
-
|
|
|
- // SECOND AXEL
|
|
|
- // parameters for limits and motors
|
|
|
- dParamGroup2: TJointParams = $100;
|
|
|
- dParamLoStop2: TJointParams = _priv_dParamLoStop2;
|
|
|
- dParamHiStop2: TJointParams = _priv_dParamLoStop2 + 1;
|
|
|
- dParamVel2: TJointParams = _priv_dParamLoStop2 + 2;
|
|
|
- dParamFMax2: TJointParams = _priv_dParamLoStop2 + 3;
|
|
|
- dParamFudgeFactor2: TJointParams = _priv_dParamLoStop2 + 4;
|
|
|
- dParamBounce2: TJointParams = _priv_dParamLoStop2 + 5;
|
|
|
- dParamCFM2: TJointParams = _priv_dParamLoStop2 + 6;
|
|
|
- dParamStopERP2: TJointParams = _priv_dParamLoStop2 + 7;
|
|
|
- dParamStopCFM2: TJointParams = _priv_dParamLoStop2 + 8;
|
|
|
- // parameters for suspension
|
|
|
- dParamSuspensionERP2: TJointParams = _priv_dParamLoStop2 + 9;
|
|
|
- dParamSuspensionCFM2: TJointParams = _priv_dParamLoStop2 + 10;
|
|
|
- dParamERP2: TJointParams = _priv_dParamLoStop2 + 11;
|
|
|
-
|
|
|
- // THIRD AXEL
|
|
|
- // parameters for limits and motors
|
|
|
- dParamGroup3: TJointParams = $200;
|
|
|
- dParamLoStop3: TJointParams = _priv_dParamLoStop3;
|
|
|
- dParamHiStop3: TJointParams = _priv_dParamLoStop3 + 1;
|
|
|
- dParamVel3: TJointParams = _priv_dParamLoStop3 + 2;
|
|
|
- dParamFMax3: TJointParams = _priv_dParamLoStop3 + 3;
|
|
|
- dParamFudgeFactor3: TJointParams = _priv_dParamLoStop3 + 4;
|
|
|
- dParamBounce3: TJointParams = _priv_dParamLoStop3 + 5;
|
|
|
- dParamCFM3: TJointParams = _priv_dParamLoStop3 + 6;
|
|
|
- dParamStopERP3: TJointParams = _priv_dParamLoStop3 + 7;
|
|
|
- dParamStopCFM3: TJointParams = _priv_dParamLoStop3 + 8;
|
|
|
- // parameters for suspension
|
|
|
- dParamSuspensionERP3: TJointParams = _priv_dParamLoStop3 + 9;
|
|
|
- dParamSuspensionCFM3: TJointParams = _priv_dParamLoStop3 + 10;
|
|
|
- dParamERP3: TJointParams = _priv_dParamLoStop3 + 11;
|
|
|
- dParamGroup: TJointParams = $100;
|
|
|
-
|
|
|
- // added by PAR
|
|
|
- {$IFDEF PARODE}
|
|
|
- function dSphereGetClass: integer; cdecl; external ODEDLL;
|
|
|
- function dBoxGetClass: integer; cdecl; external ODEDLL;
|
|
|
- function dCylinderGetClass: integer; cdecl; external ODEDLL;
|
|
|
- function dCapsuleGetClass: integer; cdecl; external ODEDLL;
|
|
|
- function dRayGetClass: integer; cdecl; external ODEDLL;
|
|
|
- function dPlaneGetClass: integer; cdecl; external ODEDLL;
|
|
|
- function dConvexGetClass: integer; cdecl; external ODEDLL;
|
|
|
- function dTriMeshGetClass: integer; cdecl; external ODEDLL;
|
|
|
- function dHeightfieldGetClass: integer; cdecl; external ODEDLL;
|
|
|
- function dGeomTransformGetClass: integer; cdecl; external ODEDLL;
|
|
|
- {$ENDIF}
|
|
|
-
|
|
|
- procedure dInitODE; cdecl; external ODEDLL;
|
|
|
- function dInitODE2(uiInitFlags: longword): integer; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dCloseODE; cdecl; external ODEDLL;
|
|
|
-
|
|
|
-
|
|
|
- //----- dWorld -----
|
|
|
- function dWorldCreate: PdxWorld; cdecl; external ODEDLL;
|
|
|
- procedure dWorldDestroy(const World: PdxWorld); cdecl; external ODEDLL;
|
|
|
- function dWorldGetCFM(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- function dWorldGetERP(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldGetGravity(const World: PdxWorld; var gravity: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dWorldImpulseToForce(const World: PdxWorld; const stepsize, ix, iy, iz: TdReal; var force: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetCFM(const World: PdxWorld; cfm: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetERP(const World: PdxWorld; erp: TdReal); cdecl; external ODEDLL;
|
|
|
-procedure dWorldSetGravity(const World: PdxWorld; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetContactMaxCorrectingVel(const World: PdxWorld; const vel: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetContactMaxCorrectingVel(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetContactSurfaceLayer(const World: PdxWorld; const depth: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetContactSurfaceLayer(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldExportDIF(const World: PdxWorld; fileHandle: cardinal; const world_name:PAnsiChar); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- // Damping
|
|
|
- function dWorldGetLinearDampingThreshold(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetLinearDampingThreshold(const World: PdxWorld; const threshold: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetAngularDampingThreshold(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetAngularDampingThreshold(const World: PdxWorld; const threshold: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetLinearDamping(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetLinearDamping(const World: PdxWorld; const scale: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetAngularDamping(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetAngularDamping(const World: PdxWorld; const scale: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetDamping(const World: PdxWorld; const linear_scale,angular_scale: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetMaxAngularSpeed(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetMaxAngularSpeed(const World: PdxWorld; const max_speed: TdReal); cdecl; external ODEDLL;
|
|
|
- // Step
|
|
|
- procedure dWorldStep(const World: PdxWorld; const stepsize: TdReal); cdecl; external ODEDLL;
|
|
|
- // QuickStep
|
|
|
- procedure dWorldQuickStep(const World: PdxWorld; const stepsize: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetQuickStepNumIterations(const World: PdxWorld; const num: integer); cdecl; external ODEDLL;
|
|
|
- function dWorldGetQuickStepNumIterations(const World: PdxWorld): integer; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetQuickStepW(const World: PdxWorld; const param: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetQuickStepW(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- // Auto-disable functions
|
|
|
- function dWorldGetAutoDisableLinearAverageThreshold(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetAutoDisableLinearAverageThreshold(const World: PdxWorld; linear_average_threshold: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetAutoDisableAngularAverageThreshold(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetAutoDisableAngularAverageThreshold(const World: PdxWorld; linear_average_threshold: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetAutoDisableAverageSamplesCount(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetAutoDisableAverageSamplesCount(const World: PdxWorld; linear_average_threshold: TdReal); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dWorldGetAutoDisableLinearThreshold(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetAutoDisableLinearThreshold(const World: PdxWorld; linThreshold: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetAutoDisableAngularThreshold(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetAutoDisableAngularThreshold(const World: PdxWorld; angThreshold: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetAutoDisableSteps(const World: PdxWorld): Integer; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetAutoDisableSteps(const World: PdxWorld; steps: Integer); cdecl; external ODEDLL;
|
|
|
- function dWorldGetAutoDisableTime(const World: PdxWorld): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetAutoDisableTime(const World: PdxWorld; time: TdReal); cdecl; external ODEDLL;
|
|
|
- function dWorldGetAutoDisableFlag(const World: PdxWorld): Integer; cdecl; external ODEDLL;
|
|
|
- procedure dWorldSetAutoDisableFlag(const World: PdxWorld; do_auto_disable: Integer); cdecl; external ODEDLL;
|
|
|
-
|
|
|
-
|
|
|
- //----- dBody -----
|
|
|
- procedure dBodyAddForce(const Body: PdxBody; const fx, fy, fz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodyAddForceAtPos(const Body: PdxBody; const fx, fy, fz, px, py, pz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodyAddForceAtRelPos(const Body: PdxBody; const fx, fy, fz, px, py, pz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodyAddRelForce(const Body: PdxBody; const fx, fy, fz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodyAddRelForceAtPos(const Body: PdxBody; const fx, fy, fz, px, py, pz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodyAddRelForceAtRelPos(const Body: PdxBody; const fx, fy, fz, px, py, pz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodyAddRelTorque(const Body: PdxBody; const fx, fy, fz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodyAddTorque(const Body: PdxBody; const fx, fy, fz: TdReal); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dBodyCreate(const World: PdxWorld): PdxBody; cdecl; external ODEDLL;
|
|
|
- procedure dBodyDestroy(const Body: PdxBody); cdecl; external ODEDLL;
|
|
|
- procedure dBodyDisable(const Body: PdxBody); cdecl; external ODEDLL;
|
|
|
- procedure dBodyEnable(const Body: PdxBody); cdecl; external ODEDLL;
|
|
|
- function dBodyGetAngularVel(const Body: PdxBody): PdVector3; cdecl; external ODEDLL;
|
|
|
- procedure dBodyGetFiniteRotationAxis(const Body: PdxBody; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- function dBodyGetFiniteRotationMode(const Body: PdxBody): Integer; cdecl; external ODEDLL;
|
|
|
- function dBodyGetForce(const Body: PdxBody): PdVector3; cdecl; external ODEDLL;
|
|
|
- function dBodyGetGravityMode(const Body: PdxBody): Integer; cdecl; external ODEDLL;
|
|
|
- function dBodyGetJoint(const Body: PdxBody; const index: Integer): TdJointID; cdecl; external ODEDLL;
|
|
|
- function dBodyGetLinearVel(const Body: PdxBody): PdVector3; cdecl; external ODEDLL;
|
|
|
- procedure dBodyGetMass(const Body: PdxBody; var mass: TdMass); cdecl; external ODEDLL;
|
|
|
- function dBodyGetNumJoints(const Body: PdxBody): Integer; cdecl; external ODEDLL;
|
|
|
- procedure dBodyGetPointVel(const Body: PdxBody; const px, py, pz: TdReal; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dBodyGetPosRelPoint(const Body: PdxBody; const px, py, pz: TdReal; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- function dBodyGetPosition(const Body: PdxBody): PdVector3; cdecl; external ODEDLL;
|
|
|
- function dBodyGetQuaternion(const Body: PdxBody): PdQuaternion; cdecl; external ODEDLL;
|
|
|
- procedure dBodyGetRelPointPos(const Body: PdxBody; const px, py, pz: TdReal; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dBodyGetRelPointVel(const Body: PdxBody; const px, py, pz: TdReal; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- function dBodyGetRotation(const Body: PdxBody): PdMatrix3; cdecl; external ODEDLL;
|
|
|
- function dBodyGetTorque(const Body: PdxBody): PdVector3; cdecl; external ODEDLL;
|
|
|
- function dBodyIsEnabled(const Body: PdxBody): Integer; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetAngularVel(const Body: PdxBody; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetFiniteRotationAxis(const Body: PdxBody; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetFiniteRotationMode(const Body: PdxBody; const mode: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetForce(const Body: PdxBody; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetGravityMode(const Body: PdxBody; const mode: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetLinearVel(const Body: PdxBody; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetMass( const Body: PdxBody; const mass: PdMass); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetPosition(const Body: PdxBody; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetQuaternion(const Body: PdxBody; const q: TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetRotation(const Body: PdxBody; const R: TdMatrix3); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetTorque(const Body: PdxBody; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodyVectorFromWorld(const Body: PdxBody; const px, py, pz: TdReal; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dBodyVectorToWorld(const Body: PdxBody; const px, py, pz: TdReal; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetData (const Body: PdxBody; data : pointer); cdecl; external ODEDLL;
|
|
|
- function dBodyGetData (const Body: PdxBody) : pointer; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetMovedCallback (const Body: PdxBody; Callback: TdMovedCallback); cdecl; external ODEDLL;
|
|
|
- procedure dBodyCopyPosition(const Body: PdxBody; const pos: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dBodyCopyRotation(const Body: PdxBody; const R: TdMatrix3); cdecl; external ODEDLL;
|
|
|
- procedure dBodyCopyQuaternion(const Body: PdxBody; const quat: TdQuaternion); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- // damping functions
|
|
|
- procedure dBodySetLinearDamping (const Body: PdxBody; scale: TdReal); cdecl; external ODEDLL;
|
|
|
- function dBodyGetLinearDamping (const Body: PdxBody): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetAngularDamping(const Body: PdxBody; scale : TdReal); cdecl; external ODEDLL;
|
|
|
- function dBodyGetAngularDamping(const Body: PdxBody): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetDamping(const Body: PdxBody; linear_scale, angular_scale: TdReal); cdecl; external ODEDLL;
|
|
|
- function dBodyGetLinearDampingThreshold(const Body: PdxBody): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetLinearDampingThreshold(const Body: PdxBody; threshold: TdReal); cdecl; external ODEDLL;
|
|
|
- function dBodyGetAngularDampingThreshold(const Body: PdxBody): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetAngularDampingThreshold(const Body: PdxBody; threshold: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetDampingDefaults(const Body: PdxBody; threshold: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetMaxAngularSpeed(const Body: PdxBody; max_speed: TdReal); cdecl; external ODEDLL;
|
|
|
- function dBodyGetMaxAngularSpeed(const Body: PdxBody): TdReal; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- // Auto-disable functions
|
|
|
- function dBodyGetAutoDisableLinearThreshold(const Body: PdxBody): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetAutoDisableLinearThreshold(const Body: PdxBody; linThreshold: TdReal); cdecl; external ODEDLL;
|
|
|
- function dBodyGetAutoDisableAngularThreshold(const Body: PdxBody): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetAutoDisableAngularThreshold(const Body: PdxBody; angThreshold: TdReal); cdecl; external ODEDLL;
|
|
|
- function dBodyGetAutoDisableSteps(const Body: PdxBody): Integer; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetAutoDisableSteps(const Body: PdxBody; steps: Integer); cdecl; external ODEDLL;
|
|
|
- function dBodyGetAutoDisableTime(const Body: PdxBody): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetAutoDisableTime(const Body: PdxBody; time: TdReal); cdecl; external ODEDLL;
|
|
|
- function dBodyGetAutoDisableFlag(const Body: PdxBody): Integer; cdecl; external ODEDLL;
|
|
|
- procedure dBodySetAutoDisableFlag(const Body: PdxBody; do_auto_disable: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetAutoDisableDefaults(const Body: PdxBody); cdecl; external ODEDLL;
|
|
|
- procedure dBodySetAutoDisableAverageSamplesCount(const Body: PdxBody; average_samples_count: longword); cdecl; external ODEDLL;
|
|
|
-
|
|
|
-
|
|
|
- //----- dJoint -----
|
|
|
- {$IFDEF PARODE}
|
|
|
- // breakable joints
|
|
|
- procedure dJointSetBreakable (const dJointID: TdJointID; b: integer); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetBreakCallback (const dJointID: TdJointID; callbackFunc:TdJointBreakCallback); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetBreakMode (const dJointID: TdJointID; mode: integer); cdecl; external ODEDLL;
|
|
|
- function dJointGetBreakMode (const dJointID: TdJointID): integer; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetBreakForce(const dJointID: TdJointID; body: integer; x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetBreakTorque(const dJointID: TdJointID; body: integer; x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointIsBreakable (const dJointID: TdJointID): integer; cdecl; external ODEDLL;
|
|
|
- procedure dJointGetBreakForce(const dJointID: TdJointID; body: integer; var force: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetBreakTorque(const dJointID: TdJointID; body: integer; var torque: TdVector3); cdecl; external ODEDLL;
|
|
|
- {$ENDIF}
|
|
|
-
|
|
|
- // normal joints
|
|
|
- procedure dJointGroupDestroy(const dJointGroupID: TdJointGroupID); cdecl; external ODEDLL;
|
|
|
- function dJointGroupCreate(const max_size: Integer): TdJointGroupID; cdecl; external ODEDLL;
|
|
|
- procedure dJointGroupEmpty(const dJointGroupID: TdJointGroupID); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dJointAttach(const dJointID: TdJointID; const body1, body2: PdxBody); cdecl; external ODEDLL;
|
|
|
- procedure dJointDestroy(const dJointID: TdJointID); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dJointGetData (const dJointID: TdJointID): pointer; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetData (const dJointID: TdJointID; data: Pointer); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- // callback routines for feedback of joints
|
|
|
- procedure dJointSetFeedback (const dJointID: TdJointID; Feedback: PTdJointFeedback); cdecl; external ODEDLL;
|
|
|
- function dJointGetFeedback (const dJointID: TdJointID): PTdJointFeedback; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dJointGetType(const dJointID: TdJointID): Integer; cdecl; external ODEDLL;
|
|
|
- function dJointGetBody(const dJointID: TdJointID; const index: Integer): PdxBody; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Contact
|
|
|
- function dJointCreateContact(const World: PdxWorld; dJointGroupID: TdJointGroupID; const dContact: PdContact): TdJointID; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //AMotor
|
|
|
- function dJointCreateAMotor(const World: PdxWorld; dJointGroupID: TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetAMotorAngle(const dJointID: TdJointID; const anum: Integer; const angle: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetAMotorAngle(const dJointID: TdJointID; const anum: Integer): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetAMotorAxis(const dJointID: TdJointID; const anum, rel: Integer; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetAMotorAxis(const dJointID: TdJointID; const anum: Integer; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetAMotorNumAxes(const dJointID: TdJointID; const num: Integer); cdecl; external ODEDLL;
|
|
|
- function dJointGetAMotorNumAxes(const dJointID: TdJointID): Integer; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetAMotorParam(const dJointID: TdJointID; const parameter: TJointParams; const value: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetAMotorParam(const dJointID: TdJointID; const parameter: TJointParams): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetAMotorMode(const dJointID: TdJointID; const mode: TdAngularMotorModeNumbers); cdecl; external ODEDLL;
|
|
|
- function dJointGetAMotorMode(const dJointID: TdJointID): Integer; cdecl; external ODEDLL;
|
|
|
- procedure dJointAddAMotorTorques (const dJointID: TdJointID; torque1, torque2, torque3: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetAMotorAngleRate(const dJointID: TdJointID; const anum: Integer): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetAMotorAxisRel(const dJointID: TdJointID; const anum: Integer): Integer; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //LMotor
|
|
|
- function dJointCreateLMotor(const World: PdxWorld; dJointGroupID : TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetLMotorAxis(const dJointID: TdJointID; const anum, rel: Integer; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetLMotorAxis(const dJointID: TdJointID; const anum: Integer; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetLMotorNumAxes(const dJointID: TdJointID; const num: Integer); cdecl; external ODEDLL;
|
|
|
- function dJointGetLMotorNumAxes(const dJointID: TdJointID): Integer; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetLMotorParam(const dJointID: TdJointID; const parameter: TJointParams; const value: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetLMotorParam(const dJointID: TdJointID; const parameter: TJointParams): TdReal; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Ball
|
|
|
- function dJointCreateBall(const World: PdxWorld; dJointGroupID : TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetBallAnchor(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetBallAnchor(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetBallAnchor2(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Hinge
|
|
|
- function dJointCreateHinge(const World: PdxWorld; dJointGroupID : TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetHingeAnchor(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetHingeAnchor(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetHingeAnchor2(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetHingeAxis(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetHingeAxis(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetHingeParam(const dJointID: TdJointID; const parameter: TJointParams; const value: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetHingeParam(const dJointID: TdJointID; const parameter: TJointParams): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetHingeAngle(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetHingeAngleRate(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dJointAddHingeTorque (const dJointID: TdJointID; torque: TdReal); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Hinge2
|
|
|
- function dJointCreateHinge2(const World: PdxWorld; dJointGroupID : TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetHinge2Anchor(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetHinge2Anchor(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetHinge2Anchor2(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetHinge2Axis1(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetHinge2Axis1(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetHinge2Axis2(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetHinge2Axis2(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetHinge2Param(const dJointID: TdJointID; const parameter: TJointParams; const value: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetHinge2Param(const dJointID: TdJointID; const parameter: TJointParams): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetHinge2Angle1(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetHinge2Angle1Rate(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetHinge2Angle2Rate(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dJointAddHinge2Torques (const dJointID: TdJointID; torque1, torque2: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointCorrectHinge2(const dJointID: TdJointID); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Slider
|
|
|
- function dJointCreateSlider(const World: PdxWorld; dJointGroupID : TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetSliderAxis(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetSliderAxis(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetSliderParam(const dJointID: TdJointID; const parameter: TJointParams; const value: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetSliderParam(const dJointID: TdJointID; const parameter: TJointParams): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetSliderPosition(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetSliderPositionRate(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dJointAddSliderForce (const dJointID: TdJointID; force: TdReal); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Universal
|
|
|
- function dJointCreateUniversal(const World: PdxWorld; dJointGroupID : TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointGetUniversalAnchor(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetUniversalAnchor2(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetUniversalAxis1(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetUniversalAxis1(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetUniversalAxis2(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetUniversalAxis2(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetUniversalParam(const dJointID: TdJointID; const parameter: TJointParams; const value: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetUniversalParam(const dJointID: TdJointID; const parameter: TJointParams): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetUniversalAngle1(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetUniversalAngle2(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetUniversalAngle1Rate(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetUniversalAngle2Rate(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetUniversalAnchor(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointAddUniversalTorques (const dJointID: TdJointID; torque1, torque2: TdReal); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Fixed
|
|
|
- function dJointCreateFixed(const World: PdxWorld; dJointGroupID : TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetFixed(const dJointID: TdJointID); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Plane2D
|
|
|
- function dJointCreatePlane2D(const World: PdxWorld; dJointGroupID : TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPlane2DXParam(const dJointID: TdJointID; const parameter: Integer; const value: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPlane2DYParam(const dJointID: TdJointID; const parameter: Integer; const value: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPlane2DAngleParam(const dJointID: TdJointID; const parameter: Integer; const value: TdReal); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //PR
|
|
|
- function dJointCreatePR(const World: PdxWorld; dJointGroupID : TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPRAnchor(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPRAxis1(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetPRAxis1(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPRAxis2(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetPRAxis2(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPRParam(const dJointID: TdJointID; const parameter: TJointParams; const value: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetPRParam(const dJointID: TdJointID; parameter: integer): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dJointAddPRTorque (const dJointID: TdJointID; torque: TdReal); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Piston
|
|
|
- function dJointCreatePiston(const World: PdxWorld; dJointGroupID : TdJointGroupID): TdJointID; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPistonAnchor(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetPistonAnchor(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetPistonAnchor2(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPistonAxis(const dJointID: TdJointID; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointGetPistonAxis(const dJointID: TdJointID; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPistonParam(const dJointID: TdJointID; const parameter: TJointParams; const value: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetPistonParam(const dJointID: TdJointID; parameter : integer): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dJointSetPistonAxisDelta(const dJointID: TdJointID; const x, y, z, ax, ay, az: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dJointAddPistonForce (const dJointID: TdJointID; force: TdReal); cdecl; external ODEDLL;
|
|
|
- function dJointGetPistonPosition(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetPistonAngle(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetPistonAngleRate(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
- function dJointGetPistonRate(const dJointID: TdJointID): TdReal; cdecl; external ODEDLL;
|
|
|
-
|
|
|
-
|
|
|
- //----- dGeom -----
|
|
|
- function dCreateGeom (classnum: Integer): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dGeomDestroy(const Geom: PdxGeom); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dCreateGeomClass(const classptr: TdGeomClass): Integer; cdecl; external ODEDLL;
|
|
|
- function dGeomGetClass(const Geom: PdxGeom): Integer; cdecl; external ODEDLL;
|
|
|
- function dGeomGetClassData(o: PdxGeom): Pointer; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dGeomGetSpace(const Geom: PdxGeom): PdxSpace; cdecl; external ODEDLL;
|
|
|
- function dGeomIsSpace (const Geom: PdxGeom): integer; cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetBody(const Geom: PdxGeom; Body: PdxBody); cdecl; external ODEDLL;
|
|
|
- function dGeomGetBody(const Geom: PdxGeom): PdxBody; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dGeomSetPosition(const Geom: PdxGeom; const x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- function dGeomGetPosition(const Geom: PdxGeom): PdVector3; cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetRotation(const Geom: PdxGeom; const R: TdMatrix3); cdecl; external ODEDLL;
|
|
|
- function dGeomGetRotation(const Geom: PdxGeom): PdMatrix3; cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetQuaternion(const Geom: PdxGeom; const TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dGeomGetQuaternion(const Geom: PdxGeom; var result: TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dGeomCopyPosition(const Geom: PdxGeom; const pos: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dGeomCopyRotation(const Geom: PdxGeom; const R: TdMatrix3); cdecl; external ODEDLL;
|
|
|
- procedure dGeomCopyQuaternion(const Geom: PdxGeom; const quat: TdQuaternion); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dGeomSetData (const Geom: PdxGeom; data : pointer); cdecl; external ODEDLL;
|
|
|
- function dGeomGetData (const Geom: PdxGeom): pointer; cdecl; external ODEDLL;
|
|
|
- procedure dGeomEnable (const Geom: PdxGeom); cdecl; external ODEDLL;
|
|
|
- procedure dGeomDisable (const Geom: PdxGeom); cdecl; external ODEDLL;
|
|
|
- function dGeomIsEnabled (const Geom: PdxGeom): integer; cdecl; external ODEDLL;
|
|
|
- procedure dGeomGetAABB(const Geom: PdxGeom; var aabb: TdAABB); cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetCategoryBits (const Geom: PdxGeom; bits : Cardinal); cdecl; external ODEDLL;
|
|
|
- function dGeomGetCategoryBits (const Geom: PdxGeom): cardinal; cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetCollideBits (const Geom: PdxGeom; bits : Cardinal); cdecl; external ODEDLL;
|
|
|
- function dGeomGetCollideBits (const Geom: PdxGeom): cardinal; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dGeomSetOffsetPosition (const Geom: PdxGeom; x,y,z:TdReal); cdecl; external ODEDLL;
|
|
|
- function dGeomGetOffsetPosition(const Geom: PdxGeom): PdVector3; cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetOffsetRotation (const Geom: PdxGeom; R:TdMatrix3); cdecl; external ODEDLL;
|
|
|
- function dGeomGetOffsetRotation(const Geom: PdxGeom): PdVector3; cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetOffsetQuaternion (const Geom: PdxGeom; const Q:TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dGeomGetOffsetQuaternion (const Geom: PdxGeom; var Q:TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dGeomClearOffset (const Geom: PdxGeom); cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetOffsetWorldPosition (const Geom: PdxGeom; x,y,z:TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetOffsetWorldRotation (const Geom: PdxGeom; R:TdMatrix3); cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetOffsetWorldQuaternion (const Geom: PdxGeom; const Q:TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dGeomCopyOffsetPosition(const Geom: PdxGeom; var pos: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dGeomCopyOffsetRotation(const Geom: PdxGeom; var R: TdMatrix3); cdecl; external ODEDLL;
|
|
|
- procedure dGeomIsOffset(const Geom: PdxGeom); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Transform
|
|
|
- function dCreateGeomTransform(const Space: PdxSpace): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dGeomTransformSetGeom(const Geom, obj: PdxGeom); cdecl; external ODEDLL;
|
|
|
- function dGeomTransformGetGeom(const Geom: PdxGeom): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dGeomTransformSetInfo(const Geom: PdxGeom; mode: integer); cdecl; external ODEDLL;
|
|
|
- function dGeomTransformGetInfo(const Geom: PdxGeom): integer; cdecl; external ODEDLL;
|
|
|
- procedure dGeomTransformSetCleanup(const Geom: PdxGeom; const mode: Integer); cdecl; external ODEDLL;
|
|
|
- function dGeomTransformGetCleanup(const Geom: PdxGeom): Integer; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Box
|
|
|
- function dCreateBox(const Space: PdxSpace; const lx, ly, lz: TdReal): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dGeomBoxGetLengths(const Geom: PdxGeom; var result: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dGeomBoxSetLengths(const Geom: PdxGeom; const lx, ly, lz: TdReal); cdecl; external ODEDLL;
|
|
|
- function dGeomBoxPointDepth(const Geom: PdxGeom; const x,y,z: TdReal): TdReal; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- // dCylinder (not a capped cylinder).
|
|
|
- function dCreateCylinder(const Space: PdxSpace; r, lz: TdReal): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dGeomCylinderSetParams(const Geom: PdxGeom; radius, length: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dGeomCylinderGetParams(const Geom: PdxGeom; var radius, length: TdReal); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- // dCapsule (a capped cylinder).
|
|
|
- function dCreateCapsule(const Space: PdxSpace; const radius, length: TdReal): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dGeomCapsuleSetParams(const Geom: PdxGeom; const radius, length: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dGeomCapsuleGetParams(const Geom: PdxGeom; var radius, length: TdReal); cdecl; external ODEDLL;
|
|
|
- function dGeomCapsulePointDepth(const Geom: PdxGeom; const x,y,z: TdReal): TdReal; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Plane
|
|
|
- function dCreatePlane(const Space: PdxSpace; const a, b, c, d: TdReal): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dGeomPlaneSetParams(const Geom: PdxGeom; const a, b, c, d: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dGeomPlaneGetParams(const Geom: PdxGeom; var result: TdVector4); cdecl; external ODEDLL;
|
|
|
- function dGeomPlanePointDepth(const Geom: PdxGeom; const x,y,z: TdReal): TdReal; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Sphere
|
|
|
- function dCreateSphere(const Space: PdxSpace; const radius: TdReal): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dGeomSphereSetRadius(const Geom: PdxGeom; const radius: TdReal); cdecl; external ODEDLL;
|
|
|
- function dGeomSphereGetRadius(const Geom: PdxGeom): TdReal; cdecl; external ODEDLL;
|
|
|
- function dGeomSpherePointDepth(const Geom: PdxGeom; const x,y,z: TdReal): TdReal; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Convex
|
|
|
- function dCreateConvex(const Space: PdxSpace; _planes: PdReal; _planecount: longword; _points: PdReal; _pointcount: longword; const _polygons:longword): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dGeomSetConvex(const Geom: PdxGeom; _planes: PdReal; _planecount: longword; _points: PdReal; _pointcount: longword; const _polygons:longword); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //Heightfield (incomplete)
|
|
|
- function dCreateHeightfield(const Space: PdxSpace; Data: PdxHeightfieldData; bPlaceable:Integer): PdxGeom; cdecl; external ODEDLL;
|
|
|
- function dGeomHeightfieldDataCreate: PdxHeightfieldData; cdecl; external ODEDLL;
|
|
|
- procedure dGeomHeightfieldDataDestroy(Data: PdxHeightfieldData); cdecl; external ODEDLL;
|
|
|
- procedure dGeomHeightfieldSetHeightfieldData(const Geom: PdxGeom; Data: PdxHeightfieldData); cdecl; external ODEDLL;
|
|
|
- function dGeomHeightfieldGetHeightfieldData(const Geom: PdxGeom):PdxHeightfieldData; cdecl; external ODEDLL;
|
|
|
- function dGeomHeightfieldDataSetBounds(Data: PdxHeightfieldData; minHeight, MaxHeight: TdReal) : TdReal; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //dRay
|
|
|
- function dCreateRay(const Space: PdxSpace; length: TdReal): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dGeomRaySet(const geom: PdxGeom; px, py, pz, dx, dy, dz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dGeomRayGet(const geom: PdxGeom; var start, dir: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dGeomRaySetLength(const geom: PdxGeom; length: TdReal); cdecl; external ODEDLL;
|
|
|
- function dGeomRayGetLength(const geom: PdxGeom): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dGeomRaySetParams(const geom: PdxGeom; FirstContact, BackfacCull: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dGeomRayGetParams(const geom: PdxGeom; var FirstContact, BackfacCull: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dGeomRaySetClosestHit(const geom: PdxGeom; closestHit: Integer); cdecl; external ODEDLL;
|
|
|
- function dGeomRayGetClosestHit(const geom: PdxGeom): Integer; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //TriMesh
|
|
|
- function dCreateTriMesh(const Space : PdxSpace; Data: PdxTriMeshData; Callback:TdTriCallback; ArrayCallback:TdTriArrayCallback; RayCallback: TdTriRayCallback): PdxGeom; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dGeomTriMeshSetData(g: PdxGeom; Data: PdxTriMeshData); cdecl; external ODEDLL;
|
|
|
- function dGeomTriMeshGetData(g: PdxGeom):PdxTriMeshData; cdecl; external ODEDLL;
|
|
|
- function dGeomTriMeshGetTriMeshDataID(g: PdxGeom): PdxTriMeshData; cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshDataUpdate(g: PdxTriMeshData); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dGeomTriMeshIsTCEnabled(g: PdxGeom; geomClass: Integer): Integer; cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshEnableTC(g: PdxGeom; geomClass, enable: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshClearTCCache(g: PdxGeom); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dGeomTriMeshGetTriangleCount(g: PdxGeom) : integer; cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshGetTriangle(g: PdxGeom; Index: Integer; v0, v1, v2: PdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshGetPoint(g: PdxGeom; Index: Integer; u, v: TdReal; result: TdVector3); cdecl; external ODEDLL;
|
|
|
- function dGeomTriMeshGetArrayCallback(g: PdxGeom): Pointer; cdecl; external ODEDLL;
|
|
|
- function dGeomTriMeshGetRayCallback(g: PdxGeom): Pointer; cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshSetArrayCallback(g: PdxGeom; ArrayCallback: Pointer); cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshSetRayCallback(g: PdxGeom; RayCallback: Pointer); cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshSetCallback(g: PdxGeom; Callback: Pointer); cdecl; external ODEDLL;
|
|
|
- function dGeomTriMeshGetCallback(g: PdxGeom): Pointer; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dGeomTriMeshDataDestroy(g: PdxTriMeshData); cdecl; external ODEDLL;
|
|
|
- function dGeomTriMeshDataCreate: PdxTriMeshData; cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshDataSet(g: PdxTriMeshData; data_id: Integer; data: Pointer); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dGeomTriMeshDataBuildSimple(g: PdxTriMeshData; Vertices: PdVector3Array; VertexCount: Integer; Indices: PdIntegerArray; IndexCount: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshDataBuildSimple1(g: PdxTriMeshData; Vertices: PdVector3Array; VertexCount: Integer; Indices: PdIntegerArray; IndexCount: Integer; Normals: PdVector3Array); cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshDataBuildDouble(g: PdxTriMeshData; Vertices: PdVector3Array; VertexStride, VertexCount: Integer; Indices: PdIntegerArray; IndexCount, TriStride: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshDataBuildDouble1(g: PdxTriMeshData; Vertices: PdVector3Array; VertexStride, VertexCount: Integer; Indices: PdIntegerArray; IndexCount, TriStride: Integer; Normals: PdVector3Array); cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshDataBuildSingle(g: PdxTriMeshData; Vertices: PdVector3Array; VertexStride, VertexCount: Integer; Indices: PdIntegerArray; IndexCount, TriStride: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dGeomTriMeshDataBuildSingle1(g: PdxTriMeshData; Vertices: PdVector3Array; VertexStride, VertexCount: Integer; Indices: PdIntegerArray; IndexCount, TriStride: Integer; Normals: PdVector3Array); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dInfiniteAABB(geom: PdxGeom; var aabb: TdAABB); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //----- dSpace -----
|
|
|
- procedure dSpaceDestroy(const Space: PdxSpace); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dSimpleSpaceCreate(Space: PdxSpace): PdxSpace; cdecl; external ODEDLL;
|
|
|
- function dHashSpaceCreate(Space: PdxSpace): PdxSpace; cdecl; external ODEDLL;
|
|
|
- function dQuadTreeSpaceCreate(const Space: PdxSpace; const Center, Extents : TdVector3; const Depth : Integer): PdxSpace; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dSpaceAdd(const Space: PdxSpace; const Geom: PdxGeom); cdecl; external ODEDLL;
|
|
|
- procedure dSpaceRemove(const Space: PdxSpace; const Geom: PdxGeom); cdecl; external ODEDLL;
|
|
|
- procedure dSpaceClean (const Space: PdxSpace); cdecl; external ODEDLL;
|
|
|
- function dSpaceQuery (const Space: PdxSpace; const Geom: PdxGeom): Integer; cdecl; external ODEDLL;
|
|
|
- function dSpaceGetNumGeoms (const Space: PdxSpace): integer; cdecl; external ODEDLL;
|
|
|
- function dSpaceGetGeom(const Space: PdxSpace; const i: Integer): PdxGeom; cdecl; external ODEDLL;
|
|
|
- procedure dHashSpaceSetLevels(const Space: PdxSpace; const minlevel, maxlevel: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dHashSpaceGetLevels(const Space: PdxSpace; var minlevel, maxlevel: Integer); cdecl; external ODEDLL;
|
|
|
- procedure dSpaceSetCleanup (space: PdxSpace; const mode: integer); cdecl; external ODEDLL;
|
|
|
- function dSpaceGetCleanup(Space: PdxSpace): integer; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dCollide(o1, o2: PdxGeom; flags: integer; var Contact: TdContactGeom; Skip: integer) : integer; cdecl; external ODEDLL;
|
|
|
- procedure dSpaceCollide(const Space : PdxSpace; data: pointer; callback: TdNearCallback); cdecl; external ODEDLL;
|
|
|
- procedure dSpaceCollide2(o1, o2: PdxGeom; data: pointer; callback: TdNearCallback); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //----- dMass -----
|
|
|
- procedure dMassSetParameters(var m: TdMass; themass, cgx, cgy, cgz, I11, I22, I33, I12, I13, I23: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassAdd(var a,b: TdMass); cdecl; external ODEDLL;
|
|
|
- procedure dMassAdjust(var m: TdMass; newmass: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassTranslate(var m: TdMass; x, y, z: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassRotate(var m: TdMass; var R: TdMatrix3); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dMassSetZero(var m: TdMass); cdecl; external ODEDLL;
|
|
|
- procedure dMassSetBox(var m: TdMass; density, lx, ly, lz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassSetBoxTotal(var m: TdMass; total_mass, lx, ly, lz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassSetCylinder(var m: TdMass; density: TdReal; direction: Integer; radius, length: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassSetCylinderTotal(var m: TdMass; total_mass: TdReal; direction: Integer; radius, length: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassSetCapsule(var m: TdMass; density: TdReal; direction: Integer; radius, length: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassSetCapsuleTotal(var m: TdMass; total_mass: TdReal; direction: Integer; radius, length: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassSetSphere(var m: TdMass; density, radius: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassSetSphereTotal(var m: TdMass; total_mass, radius: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dMassSetTrimesh(var m: TdMass; density: TdReal; trimesh:PdxGeom); cdecl; external ODEDLL;
|
|
|
- procedure dMassSetTrimeshTotal(var m: TdMass; total_mass: TdReal; trimesh:PdxGeom); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //----- Rotation.h -----
|
|
|
- procedure dQFromAxisAndAngle (var q: TdQuaternion; const ax, ay ,az, angle: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dRFromAxisAndAngle (var R: TdMatrix3; const ax, ay ,az, angle: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dRSetIdentity (var R: TdMatrix3); cdecl; external ODEDLL;
|
|
|
- procedure dQSetIdentity (var Q: TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dRFromEulerAngles (var R : TdMatrix3; const phi, theta, psi: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dRFrom2Axes (var R: TdMatrix3; const ax, ay, az, bx, by, bz: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dRFromZAxis (var R: TdMatrix3; const ax, ay, az: TdReal); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dMultiply0 (const A: PdReal; const B, C: PdReal; p, q, r: integer); cdecl; external ODEDLL;
|
|
|
- procedure dMultiply1 (const A: PdReal; const B, C: PdReal; p, q, r: integer); cdecl; external ODEDLL;
|
|
|
- procedure dMultiply2 (const A: PdReal; const B, C: PdReal; p, q, r: integer); cdecl; external ODEDLL;
|
|
|
- procedure dQMultiply0 (var qa: TdQuaternion; const qb, qc: TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dQMultiply1 (var qa: TdQuaternion; const qb, qc: TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dQMultiply2 (var qa: TdQuaternion; const qb, qc: TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dQMultiply3 (var qa: TdQuaternion; const qb, qc: TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dRfromQ (var R: TdMatrix3; const q: TdQuaternion); cdecl; external ODEDLL;
|
|
|
- procedure dQfromR (var q: TdQuaternion; const R: TdMatrix3); cdecl; external ODEDLL;
|
|
|
- procedure dDQfromW (var dq: TdVector4; const w: TdVector3; const q: TdQuaternion); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //----- Math -----
|
|
|
- procedure dNormalize3 (var a: TdVector3); cdecl; external ODEDLL;
|
|
|
- procedure dNormalize4 (var a: TdVector4); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //----- Misc -----
|
|
|
- procedure dClosestLineSegmentPoints (const a1, a2, b1, b2: TdVector3; var cp1, cp2: TdVector3); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dBoxTouchesBox (const _p1: TdVector3; const R1: TdMatrix3; const side1: TdVector3; const _p2: TdVector3; const R2: TdMatrix3; const side2: TdVector3): integer; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dMaxDifference (A, B: PdReal; n, m: integer): TdReal; cdecl; external ODEDLL;
|
|
|
- procedure dMakeRandomVector(var n1: TdVector3; a: integer; f: TdReal); cdecl; external ODEDLL;
|
|
|
- function dAreConnected (a, b: PdxBody): integer; cdecl; external ODEDLL;
|
|
|
- function dAreConnectedExcluding (a, b: PdxBody; joint_type : TdJointTypeNumbers) : integer; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dMakeRandomMatrix (A: PdRealArray; n, m: integer; range: TdReal); cdecl; external ODEDLL;
|
|
|
- procedure dClearUpperTriangle (A: PdRealArray; n: integer); cdecl; external ODEDLL;
|
|
|
-
|
|
|
- function dRandGetSeed: Cardinal; cdecl; external ODEDLL;
|
|
|
- procedure dRandSetSeed (const s: Cardinal); cdecl; external ODEDLL;
|
|
|
- function dRandInt (const n: Integer): Integer; cdecl; external ODEDLL;
|
|
|
- function dRandReal: TdReal; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- // return 1 if the random number generator is working.
|
|
|
- function dTestRand: Integer; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- procedure dTestMatrixComparison; cdecl; external ODEDLL;
|
|
|
- procedure dTestSolveLCP; cdecl; external ODEDLL;
|
|
|
-
|
|
|
- //----- Recreated -----
|
|
|
- function dDot (const a, b: TdVector3): TdReal; overload;
|
|
|
- function dDot (const a, b: PdVector3): TdReal; overload;
|
|
|
-
|
|
|
- function dDOT14(const a,b: TdRealArray): TdReal; overload;
|
|
|
- function dDOT14(const a,b: PdRealArray): TdReal; overload;
|
|
|
-
|
|
|
- procedure dMULTIPLY0_333(var A: TdMatrix3; const B,C: TdMatrix3);
|
|
|
- procedure dMULTIPLY0_331(var A: TdVector3; const B: TdMatrix3; const C: TdVector3);
|
|
|
-
|
|
|
- function Vector3ScalarMul(const a: TdVector3; const Scalar : TdReal): TdVector3;
|
|
|
- function Vector3ADD(const a, b: TdVector3): TdVector3;
|
|
|
- function Vector3SUB(const a, b: TdVector3): TdVector3;
|
|
|
- function Vector3Length(const a : TdVector3): TdReal;
|
|
|
- function Vector3Cross(const V1, V2: TdVector3): TdVector3;
|
|
|
- function Vector3Make(const x,y,z: TdReal): TdVector3;
|
|
|
-
|
|
|
- procedure VerifyDelphiODE(Body: PdxBody; Geom: PdxGeom);
|
|
|
-
|
|
|
- {ExportInitODEMarker}
|
|
|
-
|
|
|
-const MaxUserClasses = 4;
|
|
|
-
|
|
|
-var
|
|
|
- dSphereClass : integer=0;
|
|
|
- dBoxClass : integer=1;
|
|
|
- dCapsuleClass : integer=2;
|
|
|
- dCylinderClass : integer=3;
|
|
|
- dPlaneClass : integer=4;
|
|
|
- dRayClass : integer=5;
|
|
|
- dConvexClass : integer=6;
|
|
|
- dGeomTransformClass : integer=7;
|
|
|
- dTriMeshClass : integer=8;
|
|
|
- dHeightFieldClass : integer=9;
|
|
|
- dFirstSpaceClass : integer = 10;
|
|
|
- dSimpleSpaceClass : integer = 10;
|
|
|
- dHashSpaceClass : integer = 11;
|
|
|
- dSweepAndPruneSpaceClass : integer = 12;
|
|
|
- dQuadTreeSpaceClass : integer = 13;
|
|
|
- dLastSpaceClass : integer = 13;
|
|
|
- dFirstUserClass : integer = 14;
|
|
|
- dLastUserClass : integer = 17;
|
|
|
- dGeomNumClasses : integer = 18;
|
|
|
-
|
|
|
- IsODEInitialized : boolean = False;
|
|
|
- DisabledDebugGeom : boolean = False;
|
|
|
- DisabledDebugCollision : boolean = False;
|
|
|
-
|
|
|
-{$IFDEF cODEDebugEnabled}
|
|
|
-var
|
|
|
- ODEDebugGeomList: TGeomList;
|
|
|
-{$ENDIF}
|
|
|
-{$IFDEF cODEDebugCollisionEnabled}
|
|
|
-var
|
|
|
- ODEDebugCollisionList: array of TdContact;
|
|
|
-{$ENDIF}
|
|
|
-
|
|
|
-
|
|
|
- // These are made public in the dynamic version MRQZZZ
|
|
|
- function InitODE(ADllName : PChar) : boolean;
|
|
|
- procedure CloseODE;
|
|
|
-
|
|
|
-
|
|
|
-//-----------------------------------------
|
|
|
-implementation
|
|
|
-//-----------------------------------------
|
|
|
-
|
|
|
-//---------------------
|
|
|
-// TBodyList
|
|
|
-//---------------------
|
|
|
-
|
|
|
-procedure TBodyList.DeleteAllBodies;
|
|
|
-var i : integer;
|
|
|
-begin
|
|
|
- for i := 0 to Count-1 do dBodyDestroy(Get(i));
|
|
|
- Clear;
|
|
|
-end;
|
|
|
-
|
|
|
-function TBodyList.GetItems(i: integer): PdxBody;
|
|
|
-begin
|
|
|
- result := Get(i);
|
|
|
-end;
|
|
|
-
|
|
|
-procedure TBodyList.SetItems(i: integer; const Value: PdxBody);
|
|
|
-begin
|
|
|
- Put(i, Value);
|
|
|
-end;
|
|
|
-
|
|
|
-//---------------------------
|
|
|
-// TGeomList
|
|
|
-//---------------------------
|
|
|
-
|
|
|
-procedure TGeomList.DeleteAllGeoms(DeleteDataAsObject : boolean=false);
|
|
|
-var i : integer;
|
|
|
- geom : PdxGeom;
|
|
|
-begin
|
|
|
- for i := 0 to Count-1 do begin
|
|
|
- geom := Get(i);
|
|
|
- if DeleteDataAsObject and (geom.data<>nil) then TObject(geom.data).Free;
|
|
|
- dGeomDestroy(geom);
|
|
|
- end;
|
|
|
- Clear;
|
|
|
-end;
|
|
|
-
|
|
|
-function TGeomList.GetItems(i: integer): PdxGeom;
|
|
|
-begin
|
|
|
- result := Get(i);
|
|
|
-end;
|
|
|
-
|
|
|
-procedure TGeomList.SetItems(i: integer; const Value: PdxGeom);
|
|
|
-begin
|
|
|
- Put(i, Value);
|
|
|
-end;
|
|
|
-
|
|
|
-//----- Recreated -----
|
|
|
-
|
|
|
-function dDot (const a, b : PdVector3) : TdReal;
|
|
|
-begin
|
|
|
- Assert(Assigned(a),'a not assigned!');
|
|
|
- Assert(Assigned(b),'b not assigned!');
|
|
|
- result := ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]);
|
|
|
-end;
|
|
|
-
|
|
|
-function dDot (const a, b : TdVector3) : TdReal;
|
|
|
-begin
|
|
|
- result := ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]);
|
|
|
-end;
|
|
|
-
|
|
|
-// #define dDOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2])
|
|
|
-// #define dDOT14(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[4] + (a)[2]*(b)[8])
|
|
|
-// #define dDOT41(a,b) ((a)[0]*(b)[0] + (a)[4]*(b)[1] + (a)[8]*(b)[2])
|
|
|
-// #define dDOT44(a,b) ((a)[0]*(b)[0] + (a)[4]*(b)[4] + (a)[8]*(b)[8])
|
|
|
-
|
|
|
-function dDOT14(const a,b : TdRealArray) : TdReal; overload;
|
|
|
-begin
|
|
|
- result := ((a)[0]*(b)[0] + (a)[1]*(b)[4] + (a)[2]*(b)[8]);
|
|
|
-end;
|
|
|
-
|
|
|
-function dDOT14(const a,b : PdRealArray) : TdReal; overload;
|
|
|
-begin
|
|
|
- result := ((a)[0]*(b)[0] + (a)[1]*(b)[4] + (a)[2]*(b)[8]);
|
|
|
-end;
|
|
|
-
|
|
|
-procedure dMULTIPLY0_331(var A : TdVector3; const B : TdMatrix3; const C : TdVector3);
|
|
|
-{var
|
|
|
- v : PdVector3;}
|
|
|
-begin
|
|
|
- // #define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
|
|
|
-
|
|
|
- // #define dMULTIPLYOP0_331(A,op,B,C) \
|
|
|
- // (A)[0] op dDOT((B),(C)); \
|
|
|
- // (A)[1] op dDOT((B+4),(C)); \
|
|
|
- // (A)[2] op dDOT((B+8),(C));
|
|
|
-
|
|
|
-
|
|
|
- A[0] := dDOT(PdVector3(@(B[0]))^, C);
|
|
|
-
|
|
|
- A[1] := dDOT(PdVector3(@(B[4]))^, C);
|
|
|
- A[2] := dDOT(PdVector3(@(B[8]))^, C);//}
|
|
|
-end;
|
|
|
-
|
|
|
-procedure dMULTIPLY0_333(var A : TdMatrix3; const B,C : TdMatrix3);
|
|
|
-begin
|
|
|
- // #define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
|
|
|
- // #define dMULTIPLYOP0_333(A,op,B,C) \
|
|
|
- // (A)[0] op dDOT14((B),(C)); \
|
|
|
- // (A)[1] op dDOT14((B),(C+1)); \
|
|
|
- // (A)[2] op dDOT14((B),(C+2)); \
|
|
|
- // (A)[4] op dDOT14((B+4),(C)); \
|
|
|
- // (A)[5] op dDOT14((B+4),(C+1)); \
|
|
|
- // (A)[6] op dDOT14((B+4),(C+2)); \
|
|
|
- // (A)[8] op dDOT14((B+8),(C)); \
|
|
|
- // (A)[9] op dDOT14((B+8),(C+1)); \
|
|
|
- // (A)[10] op dDOT14((B+8),(C+2));
|
|
|
-
|
|
|
- A[0] := dDOT14(PdRealArray(@(B[0])),PdRealArray(@(C[0])));
|
|
|
- A[1] := dDOT14(PdRealArray(@(B[0])),PdRealArray(@(C[1])));
|
|
|
- A[2] := dDOT14(PdRealArray(@(B[0])),PdRealArray(@(C[2])));
|
|
|
-
|
|
|
- A[4] := dDOT14(PdRealArray(@(B[4])),PdRealArray(@(C[0])));
|
|
|
- A[5] := dDOT14(PdRealArray(@(B[4])),PdRealArray(@(C[1])));
|
|
|
- A[6] := dDOT14(PdRealArray(@(B[4])),PdRealArray(@(C[2])));
|
|
|
-
|
|
|
- A[8] := dDOT14(PdRealArray(@(B[8])),PdRealArray(@(C[0])));
|
|
|
- A[9] := dDOT14(PdRealArray(@(B[8])),PdRealArray(@(C[1])));
|
|
|
- A[10] := dDOT14(PdRealArray(@(B[8])),PdRealArray(@(C[2])));
|
|
|
-end;
|
|
|
-
|
|
|
-function Vector3ScalarMul(const a : TdVector3; const Scalar : TdReal) : TdVector3;
|
|
|
-begin
|
|
|
- result[0] := a[0]*Scalar;
|
|
|
- result[1] := a[1]*Scalar;
|
|
|
- result[2] := a[2]*Scalar;
|
|
|
-end;
|
|
|
-
|
|
|
-function Vector3ADD(const a, b : TdVector3) : TdVector3;
|
|
|
-begin
|
|
|
- result[0] := a[0]+b[0];
|
|
|
- result[1] := a[1]+b[1];
|
|
|
- result[2] := a[2]+b[2];
|
|
|
-end;
|
|
|
-
|
|
|
-function Vector3SUB(const a, b : TdVector3) : TdVector3;
|
|
|
-begin
|
|
|
- result[0] := a[0]-b[0];
|
|
|
- result[1] := a[1]-b[1];
|
|
|
- result[2] := a[2]-b[2];
|
|
|
-end;
|
|
|
-
|
|
|
-function Vector3Length(const a : TdVector3) : TdReal;
|
|
|
-begin
|
|
|
- result := sqrt(sqr(a[0])+sqr(a[1])+sqr(a[2]));
|
|
|
-end;
|
|
|
-
|
|
|
-function Vector3Cross(const V1, V2 : TdVector3) : TdVector3;
|
|
|
-begin
|
|
|
- Result[0]:=V1[1] * V2[2] - V1[2] * V2[1];
|
|
|
- Result[1]:=V1[2] * V2[0] - V1[0] * V2[2];
|
|
|
- Result[2]:=V1[0] * V2[1] - V1[1] * V2[0];
|
|
|
-end;
|
|
|
-
|
|
|
-function Vector3Make(const x,y,z : TdReal) : TdVector3;
|
|
|
-begin
|
|
|
- result[0] := x;
|
|
|
- result[1] := y;
|
|
|
- result[2] := z;
|
|
|
-end;
|
|
|
-
|
|
|
-(*
|
|
|
-procedure DisableStillBodies(World : PdxWorld; Threshold : TdReal=0.0001);
|
|
|
-var
|
|
|
- Body : PdxBody;
|
|
|
- TempList : TList;
|
|
|
-begin
|
|
|
- if not Assigned(WasStillBefore) then
|
|
|
- begin
|
|
|
- WasStillBefore := TList.Create;
|
|
|
- WasStillBeforeOld := TList.Create;
|
|
|
- end;
|
|
|
-
|
|
|
- Body := World.FirstBody;
|
|
|
-
|
|
|
- WasStillBefore.Clear;
|
|
|
-
|
|
|
- // We can't disable bodies just as soon as they're still - that could disable
|
|
|
- // bodies that are just slowed down or titering on an edge. If they've been
|
|
|
- // still for two frames, we consider them truly still.
|
|
|
- while Assigned(Body) do
|
|
|
- begin
|
|
|
- if dBodyIsEnabled(Body)=1 then
|
|
|
- begin
|
|
|
- // Is the body still?
|
|
|
- if (abs(Body.lvel[0])<Threshold) and (abs(Body.lvel[1])<Threshold) and (abs(Body.lvel[2])<Threshold) and
|
|
|
- (abs(Body.avel[0])<Threshold) and (abs(Body.avel[1])<Threshold) and (abs(Body.avel[2])<Threshold) then
|
|
|
- begin
|
|
|
- if WasStillBeforeOld.IndexOf(Body)<>-1 then
|
|
|
- dBodyDisable(Body)
|
|
|
- else
|
|
|
- WasStillBefore.Add(Body);
|
|
|
- end;
|
|
|
- end;
|
|
|
-
|
|
|
- Body := PdxBody(Body.BaseObject.next);
|
|
|
- end;
|
|
|
-
|
|
|
- TempList := WasStillBeforeOld;
|
|
|
- WasStillBeforeOld := WasStillBefore;
|
|
|
- WasStillBefore := TempList;
|
|
|
-end; *)
|
|
|
-
|
|
|
-procedure VerifyDelphiODE(Body : PdxBody; Geom : PdxGeom);
|
|
|
-var
|
|
|
- m : TdMass;
|
|
|
- VerificationPointer : pointer;
|
|
|
-begin
|
|
|
- VerificationPointer := pointer( -1 ); // A known pointer
|
|
|
- // Verify Body
|
|
|
- dBodySetData( Body, VerificationPointer );
|
|
|
- Assert( dBodyGetData( Body ) = VerificationPointer, 'Body test 1 fails' );
|
|
|
- Assert( Body.BaseObject.userdata = VerificationPointer, 'Body test 2 fails' );
|
|
|
-
|
|
|
- dBodyGetMass(Body, m);
|
|
|
-
|
|
|
- Assert(Body.mass.mass = m.mass, 'Body test 3 fails');
|
|
|
-
|
|
|
- // Verify Geom
|
|
|
- dGeomSetData( Geom, VerificationPointer );
|
|
|
- Assert( dGeomGetData( Geom ) = VerificationPointer, 'Geom test 1 fails' );
|
|
|
- Assert(dGeomGetBody(Geom)=Geom.Body, 'Geom test 2 fails');
|
|
|
- Assert( Geom.Data = VerificationPointer, 'Geom test 3 fails' );
|
|
|
-end;
|
|
|
-
|
|
|
-var
|
|
|
- vODEHandle : TModuleHandle;
|
|
|
-
|
|
|
-procedure GetODEClassIDs;
|
|
|
-begin
|
|
|
- {$IFDEF PARODE}
|
|
|
- dSphereClass:=dSphereGetClass;
|
|
|
- dBoxClass:=dBoxGetClass;
|
|
|
- dPlaneClass:=dPlaneGetClass;
|
|
|
- dCylinderClass:=dCylinderGetClass;
|
|
|
- dConvexClass:=dConvexGetClass;
|
|
|
- dGeomTransformClass:=dGeomTransformGetClass;
|
|
|
- dRayClass:=dRayGetClass;
|
|
|
- dTriMeshClass:=dTriMeshGetClass;
|
|
|
- dHeightfieldClass:=dHeightfieldGetClass;
|
|
|
- {$ENDIF}
|
|
|
-end;
|
|
|
-
|
|
|
-function InitODE(ADllName : PChar) : boolean;
|
|
|
-var isODELoaded : boolean;
|
|
|
-begin
|
|
|
- result := IsODEInitialized;
|
|
|
- if IsODEInitialized then exit;
|
|
|
-
|
|
|
- if ADllName = '' then ADllName := ODEDLL;
|
|
|
-
|
|
|
- isODELoaded := LoadModule( vODEHandle, ADllName );
|
|
|
- if not isODELoaded then exit;
|
|
|
-
|
|
|
- if isODELoaded and not IsODEInitialized then begin
|
|
|
- dInitODE2(0);
|
|
|
- GetODEClassIDs;
|
|
|
- IsODEInitialized:=True;
|
|
|
- end;
|
|
|
- result:=IsODEInitialized;
|
|
|
-end;
|
|
|
-
|
|
|
-procedure CloseODE;
|
|
|
-begin
|
|
|
- if IsODEInitialized then dCloseODE;
|
|
|
- IsODEInitialized := false;
|
|
|
- UnLoadModule( vODEHandle );
|
|
|
-end;
|
|
|
-
|
|
|
-//---------------------------------------
|
|
|
-initialization
|
|
|
-//---------------------------------------
|
|
|
-
|
|
|
- InitODE(ODEDLL);
|
|
|
-
|
|
|
-//---------------------------------------
|
|
|
-finalization
|
|
|
-//---------------------------------------
|
|
|
-
|
|
|
- CloseODE;
|
|
|
-
|
|
|
-end.
|
GLScene