Author: terry
Date: 2006-07-21 11:59:01 -0400 (Fri, 21 Jul 2006)
New Revision: 62870
Modified:
branches/tao_2_0/src/Tao.Ode/Ode.cs
Log:
Implemented a few more new ODE functions, commented some others.
Modified: branches/tao_2_0/src/Tao.Ode/Ode.cs
===================================================================
--- branches/tao_2_0/src/Tao.Ode/Ode.cs 2006-07-21 15:53:44 UTC (rev 62869)
+++ branches/tao_2_0/src/Tao.Ode/Ode.cs 2006-07-21 15:59:01 UTC (rev 62870)
@@ -3218,11 +3218,28 @@
}
}
- // TODO: Implement me
- // dJointID dConnectingJoint (dBodyID, dBodyID);
+ /// <summary>
+ /// Undocumented in ODE.
+ ///
+ /// Seems to return the first joint connecting the two
specified bodies
+ /// </summary>
+ /// <param name="body1">the first body to query</param>
+ /// <param name="body2">the second body to query</param>
+ /// <returns>the id of the first joint found connecting the
bodies</returns>
+ [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
+ public extern static dJointID dConnectingJoint (dBodyID body1,
dBodyID body2);
- // TODO: Implement me
- // int dConnectingJointList (dBodyID, dBodyID, dJointID*);
+ /// <summary>
+ /// Undocumented in ODE.
+ ///
+ /// Seems to return a list of the joints connecting the two
specified bodies
+ /// </summary>
+ /// <param name="body1">the first body to query</param>
+ /// <param name="body1">the second body to query</param>
+ /// <param name="connectingJoints">An array of dJointID listing
the joints connecting the specified bodies</param>
+ /// <returns>an int specifying the number of connecting joints
found</returns>
+ [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
+ public extern static int dConnectingJointList (dBodyID body1,
dBodyID body1, out dJointID[] connectingJoints);
/// <summary>
/// Test if the two specified bodies are connected by a joint.
@@ -6175,15 +6192,6 @@
[DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
public extern static void dQMultiply3(out dQuaternion qa, ref
dQuaternion qb, ref dQuaternion qc);
- //TODO: Implement me
- // void dRfromQ (dMatrix3 R, const dQuaternion q);
-
- // TODO: Implement me
- // void dQfromR (dQuaternion q, const dMatrix3 R);
-
- // TODO: Implement me
- // void dDQfromW (dReal dq[4], const dVector3 w, const
dQuaternion q);
-
/// <summary>
/// Convert quaternion q to rotation matrix R.
/// </summary>
@@ -6306,5 +6314,17 @@
// ODE_API void dTimerReport (FILE *fout, int average);
// ODE_API double dTimerTicksPerSecond(void);
// ODE_API double dTimerResolution(void);
+
+ // from compatability.h
+ // already implemented as dQtoR
+ // ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q);
+
+ // already implemented as dRtoQ
+ // ODE_API void dQfromR (dQuaternion q, const dMatrix3 R);
+
+ // already implemented as dWtoDQ
+ // ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const
dQuaternion q);
+
+
}
}
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