org.odejava.ode
Class Ode

java.lang.Object
  extended by org.odejava.ode.Ode
All Implemented Interfaces:
OdeConstants

public class Ode
extends Object
implements OdeConstants


Field Summary
 
Fields inherited from interface org.odejava.ode.OdeConstants
dAMotorEuler, dAMotorUser, dBoxClass, dCapsuleClass, dContactApprox0, dContactApprox1, dContactApprox1_1, dContactApprox1_2, dContactBounce, dContactFDir1, dContactMotion1, dContactMotion2, dContactMu2, dContactSlip1, dContactSlip2, dContactSoftCFM, dContactSoftERP, dCylinderClass, dFirstSpaceClass, dFirstUserClass, dGeomNumClasses, dGeomTransformClass, dHashSpaceClass, dJointTypeAMotor, dJointTypeBall, dJointTypeContact, dJointTypeFixed, dJointTypeHinge, dJointTypeHinge2, dJointTypeNone, dJointTypeNull, dJointTypeSlider, dJointTypeUniversal, dLastSpaceClass, dLastUserClass, dMaxUserClasses, dParamBounce, dParamBounce2, dParamBounce3, dParamCFM, dParamCFM2, dParamCFM3, dParamERP, dParamERP2, dParamERP3, dParamFMax, dParamFMax2, dParamFMax3, dParamFudgeFactor, dParamFudgeFactor2, dParamFudgeFactor3, dParamHiStop, dParamHiStop2, dParamHiStop3, dParamLoStop, dParamLoStop2, dParamLoStop3, dParamStopCFM, dParamStopCFM2, dParamStopCFM3, dParamStopERP, dParamStopERP2, dParamStopERP3, dParamSuspensionCFM, dParamSuspensionCFM2, dParamSuspensionCFM3, dParamSuspensionERP, dParamSuspensionERP2, dParamSuspensionERP3, dParamVel, dParamVel2, dParamVel3, dPlaneClass, dQuadTreeSpaceClass, dRayClass, dSimpleSpaceClass, dSphereClass, dTriMeshClass, ODEJAVA_VERSION, TRIMESH_FACE_NORMALS
 
Constructor Summary
Ode()
           
 
Method Summary
static void createContactJoints(SWIGTYPE_p_dJointGroupID contactGroupID, SWIGTYPE_p_dWorldID worldID)
           
static int dAreConnected(SWIGTYPE_p_dBodyID arg0, SWIGTYPE_p_dBodyID arg1)
           
static int dAreConnectedExcluding(SWIGTYPE_p_dBodyID arg0, SWIGTYPE_p_dBodyID arg1, int joint_type)
           
static void dBodyAddForce(SWIGTYPE_p_dBodyID arg0, float fx, float fy, float fz)
           
static void dBodyAddForceAtPos(SWIGTYPE_p_dBodyID arg0, float fx, float fy, float fz, float px, float py, float pz)
           
static void dBodyAddForceAtRelPos(SWIGTYPE_p_dBodyID arg0, float fx, float fy, float fz, float px, float py, float pz)
           
static void dBodyAddRelForce(SWIGTYPE_p_dBodyID arg0, float fx, float fy, float fz)
           
static void dBodyAddRelForceAtPos(SWIGTYPE_p_dBodyID arg0, float fx, float fy, float fz, float px, float py, float pz)
           
static void dBodyAddRelForceAtRelPos(SWIGTYPE_p_dBodyID arg0, float fx, float fy, float fz, float px, float py, float pz)
           
static void dBodyAddRelTorque(SWIGTYPE_p_dBodyID arg0, float fx, float fy, float fz)
           
static void dBodyAddTorque(SWIGTYPE_p_dBodyID arg0, float fx, float fy, float fz)
           
static SWIGTYPE_p_dBodyID dBodyCreate(SWIGTYPE_p_dWorldID arg0)
           
static void dBodyDestroy(SWIGTYPE_p_dBodyID arg0)
           
static void dBodyDisable(SWIGTYPE_p_dBodyID arg0)
           
static void dBodyEnable(SWIGTYPE_p_dBodyID arg0)
           
static SWIGTYPE_p_float dBodyGetAngularVel(SWIGTYPE_p_dBodyID arg0)
           
static float dBodyGetAutoDisableAngularThreshold(SWIGTYPE_p_dBodyID arg0)
           
static int dBodyGetAutoDisableFlag(SWIGTYPE_p_dBodyID arg0)
           
static float dBodyGetAutoDisableLinearThreshold(SWIGTYPE_p_dBodyID arg0)
           
static int dBodyGetAutoDisableSteps(SWIGTYPE_p_dBodyID arg0)
           
static float dBodyGetAutoDisableTime(SWIGTYPE_p_dBodyID arg0)
           
static SWIGTYPE_p_void dBodyGetData(SWIGTYPE_p_dBodyID arg0)
           
static void dBodyGetFiniteRotationAxis(SWIGTYPE_p_dBodyID arg0, SWIGTYPE_p_float result)
           
static int dBodyGetFiniteRotationMode(SWIGTYPE_p_dBodyID arg0)
           
static SWIGTYPE_p_float dBodyGetForce(SWIGTYPE_p_dBodyID arg0)
           
static int dBodyGetGravityMode(SWIGTYPE_p_dBodyID b)
           
static SWIGTYPE_p_dJointID dBodyGetJoint(SWIGTYPE_p_dBodyID arg0, int index)
           
static SWIGTYPE_p_float dBodyGetLinearVel(SWIGTYPE_p_dBodyID arg0)
           
static void dBodyGetMass(SWIGTYPE_p_dBodyID arg0, SWIGTYPE_p_dMass mass)
           
static int dBodyGetNumJoints(SWIGTYPE_p_dBodyID b)
           
static void dBodyGetPointVel(SWIGTYPE_p_dBodyID arg0, float px, float py, float pz, SWIGTYPE_p_float result)
           
static SWIGTYPE_p_float dBodyGetPosition(SWIGTYPE_p_dBodyID arg0)
           
static void dBodyGetPosRelPoint(SWIGTYPE_p_dBodyID arg0, float px, float py, float pz, SWIGTYPE_p_float result)
           
static SWIGTYPE_p_float dBodyGetQuaternion(SWIGTYPE_p_dBodyID arg0)
           
static void dBodyGetRelPointPos(SWIGTYPE_p_dBodyID arg0, float px, float py, float pz, SWIGTYPE_p_float result)
           
static void dBodyGetRelPointVel(SWIGTYPE_p_dBodyID arg0, float px, float py, float pz, SWIGTYPE_p_float result)
           
static SWIGTYPE_p_float dBodyGetRotation(SWIGTYPE_p_dBodyID arg0)
           
static SWIGTYPE_p_float dBodyGetTorque(SWIGTYPE_p_dBodyID arg0)
           
static int dBodyIsEnabled(SWIGTYPE_p_dBodyID arg0)
           
static void dBodySetAngularVel(SWIGTYPE_p_dBodyID arg0, float x, float y, float z)
           
static void dBodySetAutoDisableAngularThreshold(SWIGTYPE_p_dBodyID arg0, float angular_threshold)
           
static void dBodySetAutoDisableDefaults(SWIGTYPE_p_dBodyID arg0)
           
static void dBodySetAutoDisableFlag(SWIGTYPE_p_dBodyID arg0, int do_auto_disable)
           
static void dBodySetAutoDisableLinearThreshold(SWIGTYPE_p_dBodyID arg0, float linear_threshold)
           
static void dBodySetAutoDisableSteps(SWIGTYPE_p_dBodyID arg0, int steps)
           
static void dBodySetAutoDisableTime(SWIGTYPE_p_dBodyID arg0, float time)
           
static void dBodySetData(SWIGTYPE_p_dBodyID arg0, SWIGTYPE_p_void data)
           
static void dBodySetFiniteRotationAxis(SWIGTYPE_p_dBodyID arg0, float x, float y, float z)
           
static void dBodySetFiniteRotationMode(SWIGTYPE_p_dBodyID arg0, int mode)
           
static void dBodySetForce(SWIGTYPE_p_dBodyID b, float x, float y, float z)
           
static void dBodySetGravityMode(SWIGTYPE_p_dBodyID b, int mode)
           
static void dBodySetLinearVel(SWIGTYPE_p_dBodyID arg0, float x, float y, float z)
           
static void dBodySetMass(SWIGTYPE_p_dBodyID arg0, SWIGTYPE_p_dMass mass)
           
static void dBodySetPosition(SWIGTYPE_p_dBodyID arg0, float x, float y, float z)
           
static void dBodySetQuaternion(SWIGTYPE_p_dBodyID arg0, SWIGTYPE_p_float q)
           
static void dBodySetRotation(SWIGTYPE_p_dBodyID arg0, SWIGTYPE_p_float R)
           
static void dBodySetTorque(SWIGTYPE_p_dBodyID b, float x, float y, float z)
           
static void dBodyVectorFromWorld(SWIGTYPE_p_dBodyID arg0, float px, float py, float pz, SWIGTYPE_p_float result)
           
static void dBodyVectorToWorld(SWIGTYPE_p_dBodyID arg0, float px, float py, float pz, SWIGTYPE_p_float result)
           
static int dBoxTouchesBox(SWIGTYPE_p_float _p1, SWIGTYPE_p_float R1, SWIGTYPE_p_float side1, SWIGTYPE_p_float _p2, SWIGTYPE_p_float R2, SWIGTYPE_p_float side2)
           
static void dCloseODE()
           
static void dClosestLineSegmentPoints(SWIGTYPE_p_float a1, SWIGTYPE_p_float a2, SWIGTYPE_p_float b1, SWIGTYPE_p_float b2, SWIGTYPE_p_float cp1, SWIGTYPE_p_float cp2)
           
static int dCollide(SWIGTYPE_p_dGeomID o1, SWIGTYPE_p_dGeomID o2, int flags, dContactGeom contact, int skip)
           
static SWIGTYPE_p_dGeomID dCreateBox(SWIGTYPE_p_dSpaceID space, float lx, float ly, float lz)
           
static SWIGTYPE_p_dGeomID dCreateCapsule(SWIGTYPE_p_dSpaceID space, float radius, float length)
           
static SWIGTYPE_p_dGeomID dCreateCylinder(SWIGTYPE_p_dSpaceID space, float r, float lz)
           
static SWIGTYPE_p_dGeomID dCreateGeom(int classnum)
           
static int dCreateGeomClass(dGeomClass classptr)
           
static SWIGTYPE_p_dGeomID dCreateGeomTransform(SWIGTYPE_p_dSpaceID space)
           
static SWIGTYPE_p_dGeomID dCreatePlane(SWIGTYPE_p_dSpaceID space, float a, float b, float c, float d)
           
static SWIGTYPE_p_dGeomID dCreateRay(SWIGTYPE_p_dSpaceID space, float length)
           
static SWIGTYPE_p_dGeomID dCreateSphere(SWIGTYPE_p_dSpaceID space, float radius)
           
static SWIGTYPE_p_dGeomID dCreateTriMesh(SWIGTYPE_p_dSpaceID space, SWIGTYPE_p_dxTriMeshData Data, SWIGTYPE_p_dTriCallback Callback, SWIGTYPE_p_dTriArrayCallback ArrayCallback, SWIGTYPE_p_dTriRayCallback RayCallback)
           
static void delete_floatArray(SWIGTYPE_p_float ary)
           
static void delete_geomIDArray(SWIGTYPE_p_dGeomID ary)
           
static void delete_intArray(SWIGTYPE_p_int ary)
           
static void dGeomBoxGetLengths(SWIGTYPE_p_dGeomID box, SWIGTYPE_p_float result)
           
static float dGeomBoxPointDepth(SWIGTYPE_p_dGeomID box, float x, float y, float z)
           
static void dGeomBoxSetLengths(SWIGTYPE_p_dGeomID box, float lx, float ly, float lz)
           
static void dGeomCapsuleGetParams(SWIGTYPE_p_dGeomID Capsule, SWIGTYPE_p_float radius, SWIGTYPE_p_float length)
           
static float dGeomCapsulePointDepth(SWIGTYPE_p_dGeomID Capsule, float x, float y, float z)
           
static void dGeomCapsuleSetParams(SWIGTYPE_p_dGeomID Capsule, float radius, float length)
           
static void dGeomCylinderGetParams(SWIGTYPE_p_dGeomID g, SWIGTYPE_p_float radius, SWIGTYPE_p_float length)
           
static void dGeomCylinderSetParams(SWIGTYPE_p_dGeomID g, float radius, float length)
           
static void dGeomDestroy(SWIGTYPE_p_dGeomID arg0)
           
static void dGeomDisable(SWIGTYPE_p_dGeomID arg0)
           
static void dGeomEnable(SWIGTYPE_p_dGeomID arg0)
           
static void dGeomGetAABB(SWIGTYPE_p_dGeomID arg0, SWIGTYPE_p_float aabb)
           
static SWIGTYPE_p_dBodyID dGeomGetBody(SWIGTYPE_p_dGeomID arg0)
           
static long dGeomGetCategoryBits(SWIGTYPE_p_dGeomID arg0)
           
static int dGeomGetClass(SWIGTYPE_p_dGeomID arg0)
           
static SWIGTYPE_p_void dGeomGetClassData(SWIGTYPE_p_dGeomID arg0)
           
static long dGeomGetCollideBits(SWIGTYPE_p_dGeomID arg0)
           
static SWIGTYPE_p_void dGeomGetData(SWIGTYPE_p_dGeomID arg0)
           
static SWIGTYPE_p_float dGeomGetPosition(SWIGTYPE_p_dGeomID arg0)
           
static void dGeomGetQuaternion(SWIGTYPE_p_dGeomID arg0, SWIGTYPE_p_float result)
           
static SWIGTYPE_p_float dGeomGetRotation(SWIGTYPE_p_dGeomID arg0)
           
static SWIGTYPE_p_dSpaceID dGeomGetSpace(SWIGTYPE_p_dGeomID arg0)
           
static int dGeomIsEnabled(SWIGTYPE_p_dGeomID arg0)
           
static int dGeomIsSpace(SWIGTYPE_p_dGeomID arg0)
           
static void dGeomPlaneGetParams(SWIGTYPE_p_dGeomID plane, SWIGTYPE_p_float result)
           
static float dGeomPlanePointDepth(SWIGTYPE_p_dGeomID plane, float x, float y, float z)
           
static void dGeomPlaneSetParams(SWIGTYPE_p_dGeomID plane, float a, float b, float c, float d)
           
static void dGeomRayGet(SWIGTYPE_p_dGeomID ray, SWIGTYPE_p_float start, SWIGTYPE_p_float dir)
           
static float dGeomRayGetLength(SWIGTYPE_p_dGeomID ray)
           
static void dGeomRayGetParams(SWIGTYPE_p_dGeomID g, SWIGTYPE_p_int FirstContact, SWIGTYPE_p_int BackfaceCull)
           
static void dGeomRaySet(SWIGTYPE_p_dGeomID ray, float px, float py, float pz, float dx, float dy, float dz)
           
static void dGeomRaySetLength(SWIGTYPE_p_dGeomID ray, float length)
           
static void dGeomRaySetParams(SWIGTYPE_p_dGeomID g, int FirstContact, int BackfaceCull)
           
static void dGeomSetBody(SWIGTYPE_p_dGeomID arg0, SWIGTYPE_p_dBodyID arg1)
           
static void dGeomSetCategoryBits(SWIGTYPE_p_dGeomID arg0, long bits)
           
static void dGeomSetCollideBits(SWIGTYPE_p_dGeomID arg0, long bits)
           
static void dGeomSetData(SWIGTYPE_p_dGeomID arg0, SWIGTYPE_p_void arg1)
           
static void dGeomSetPosition(SWIGTYPE_p_dGeomID arg0, float x, float y, float z)
           
static void dGeomSetQuaternion(SWIGTYPE_p_dGeomID arg0, SWIGTYPE_p_float arg1)
           
static void dGeomSetRotation(SWIGTYPE_p_dGeomID arg0, SWIGTYPE_p_float R)
           
static float dGeomSphereGetRadius(SWIGTYPE_p_dGeomID sphere)
           
static float dGeomSpherePointDepth(SWIGTYPE_p_dGeomID sphere, float x, float y, float z)
           
static void dGeomSphereSetRadius(SWIGTYPE_p_dGeomID sphere, float radius)
           
static int dGeomTransformGetCleanup(SWIGTYPE_p_dGeomID g)
           
static SWIGTYPE_p_dGeomID dGeomTransformGetGeom(SWIGTYPE_p_dGeomID g)
           
static int dGeomTransformGetInfo(SWIGTYPE_p_dGeomID g)
           
static void dGeomTransformSetCleanup(SWIGTYPE_p_dGeomID g, int mode)
           
static void dGeomTransformSetGeom(SWIGTYPE_p_dGeomID g, SWIGTYPE_p_dGeomID obj)
           
static void dGeomTransformSetInfo(SWIGTYPE_p_dGeomID g, int mode)
           
static void dGeomTriMeshClearTCCache(SWIGTYPE_p_dGeomID g)
           
static void dGeomTriMeshDataBuildDouble(SWIGTYPE_p_dxTriMeshData g, SWIGTYPE_p_void Vertices, int VertexStride, int VertexCount, SWIGTYPE_p_void Indices, int IndexCount, int TriStride)
           
static void dGeomTriMeshDataBuildDouble1(SWIGTYPE_p_dxTriMeshData g, SWIGTYPE_p_void Vertices, int VertexStride, int VertexCount, SWIGTYPE_p_void Indices, int IndexCount, int TriStride, SWIGTYPE_p_void Normals)
           
static void dGeomTriMeshDataBuildSimple(SWIGTYPE_p_dxTriMeshData g, SWIGTYPE_p_float Vertices, int VertexCount, SWIGTYPE_p_dTriIndex Indices, int IndexCount)
           
static void dGeomTriMeshDataBuildSimple1(SWIGTYPE_p_dxTriMeshData g, SWIGTYPE_p_float Vertices, int VertexCount, SWIGTYPE_p_dTriIndex Indices, int IndexCount, SWIGTYPE_p_int Normals)
           
static void dGeomTriMeshDataBuildSingle(SWIGTYPE_p_dxTriMeshData g, SWIGTYPE_p_void Vertices, int VertexStride, int VertexCount, SWIGTYPE_p_void Indices, int IndexCount, int TriStride)
           
static void dGeomTriMeshDataBuildSingle1(SWIGTYPE_p_dxTriMeshData g, SWIGTYPE_p_void Vertices, int VertexStride, int VertexCount, SWIGTYPE_p_void Indices, int IndexCount, int TriStride, SWIGTYPE_p_void Normals)
           
static SWIGTYPE_p_dxTriMeshData dGeomTriMeshDataCreate()
           
static void dGeomTriMeshDataDestroy(SWIGTYPE_p_dxTriMeshData g)
           
static SWIGTYPE_p_void dGeomTriMeshDataGet(SWIGTYPE_p_dxTriMeshData g, int data_id)
           
static void dGeomTriMeshDataGetBuffer(SWIGTYPE_p_dxTriMeshData g, SWIGTYPE_p_p_unsigned_char buf, SWIGTYPE_p_int bufLen)
           
static void dGeomTriMeshDataPreprocess(SWIGTYPE_p_dxTriMeshData g)
           
static void dGeomTriMeshDataSet(SWIGTYPE_p_dxTriMeshData g, int data_id, SWIGTYPE_p_void in_data)
           
static void dGeomTriMeshDataSetBuffer(SWIGTYPE_p_dxTriMeshData g, SWIGTYPE_p_unsigned_char buf)
           
static void dGeomTriMeshDataUpdate(SWIGTYPE_p_dxTriMeshData g)
           
static void dGeomTriMeshEnableTC(SWIGTYPE_p_dGeomID g, int geomClass, int enable)
           
static SWIGTYPE_p_dTriArrayCallback dGeomTriMeshGetArrayCallback(SWIGTYPE_p_dGeomID g)
           
static SWIGTYPE_p_dTriCallback dGeomTriMeshGetCallback(SWIGTYPE_p_dGeomID g)
           
static SWIGTYPE_p_dxTriMeshData dGeomTriMeshGetData(SWIGTYPE_p_dGeomID g)
           
static SWIGTYPE_p_float dGeomTriMeshGetLastTransform(SWIGTYPE_p_dGeomID g)
           
static void dGeomTriMeshGetPoint(SWIGTYPE_p_dGeomID g, int Index, float u, float v, SWIGTYPE_p_float Out)
           
static SWIGTYPE_p_dTriRayCallback dGeomTriMeshGetRayCallback(SWIGTYPE_p_dGeomID g)
           
static void dGeomTriMeshGetTriangle(SWIGTYPE_p_dGeomID g, int Index, SWIGTYPE_p_a_4__float v0, SWIGTYPE_p_a_4__float v1, SWIGTYPE_p_a_4__float v2)
           
static int dGeomTriMeshGetTriangleCount(SWIGTYPE_p_dGeomID g)
           
static SWIGTYPE_p_f_dGeomID_int_int__int dGeomTriMeshGetTriMergeCallback(SWIGTYPE_p_dGeomID g)
           
static SWIGTYPE_p_dxTriMeshData dGeomTriMeshGetTriMeshDataID(SWIGTYPE_p_dGeomID g)
           
static int dGeomTriMeshIsTCEnabled(SWIGTYPE_p_dGeomID g, int geomClass)
           
static void dGeomTriMeshSetArrayCallback(SWIGTYPE_p_dGeomID g, SWIGTYPE_p_dTriArrayCallback ArrayCallback)
           
static void dGeomTriMeshSetCallback(SWIGTYPE_p_dGeomID g, SWIGTYPE_p_dTriCallback Callback)
           
static void dGeomTriMeshSetData(SWIGTYPE_p_dGeomID g, SWIGTYPE_p_dxTriMeshData Data)
           
static void dGeomTriMeshSetLastTransform(SWIGTYPE_p_dGeomID g, SWIGTYPE_p_float last_trans)
           
static void dGeomTriMeshSetRayCallback(SWIGTYPE_p_dGeomID g, SWIGTYPE_p_dTriRayCallback Callback)
           
static void dGeomTriMeshSetTriMergeCallback(SWIGTYPE_p_dGeomID g, SWIGTYPE_p_f_dGeomID_int_int__int Callback)
           
static SWIGTYPE_p_dSpaceID dHashSpaceCreate(SWIGTYPE_p_dSpaceID space)
           
static void dHashSpaceSetLevels(SWIGTYPE_p_dSpaceID space, int minlevel, int maxlevel)
           
static void dInfiniteAABB(SWIGTYPE_p_dGeomID geom, SWIGTYPE_p_float aabb)
           
static void dInitODE()
           
static void dJointAddAMotorTorques(SWIGTYPE_p_dJointID arg0, float torque1, float torque2, float torque3)
           
static void dJointAddHinge2Torques(SWIGTYPE_p_dJointID joint, float torque1, float torque2)
           
static void dJointAddHingeTorque(SWIGTYPE_p_dJointID joint, float torque)
           
static void dJointAddSliderForce(SWIGTYPE_p_dJointID joint, float force)
           
static void dJointAddUniversalTorques(SWIGTYPE_p_dJointID joint, float torque1, float torque2)
           
static void dJointAttach(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_dBodyID body1, SWIGTYPE_p_dBodyID body2)
           
static SWIGTYPE_p_dJointID dJointCreateAMotor(SWIGTYPE_p_dWorldID arg0, SWIGTYPE_p_dJointGroupID arg1)
           
static SWIGTYPE_p_dJointID dJointCreateBall(SWIGTYPE_p_dWorldID arg0, SWIGTYPE_p_dJointGroupID arg1)
           
static SWIGTYPE_p_dJointID dJointCreateContact(SWIGTYPE_p_dWorldID arg0, SWIGTYPE_p_dJointGroupID arg1, dContact arg2)
           
static SWIGTYPE_p_dJointID dJointCreateFixed(SWIGTYPE_p_dWorldID arg0, SWIGTYPE_p_dJointGroupID arg1)
           
static SWIGTYPE_p_dJointID dJointCreateHinge(SWIGTYPE_p_dWorldID arg0, SWIGTYPE_p_dJointGroupID arg1)
           
static SWIGTYPE_p_dJointID dJointCreateHinge2(SWIGTYPE_p_dWorldID arg0, SWIGTYPE_p_dJointGroupID arg1)
           
static SWIGTYPE_p_dJointID dJointCreateNull(SWIGTYPE_p_dWorldID arg0, SWIGTYPE_p_dJointGroupID arg1)
           
static SWIGTYPE_p_dJointID dJointCreateSlider(SWIGTYPE_p_dWorldID arg0, SWIGTYPE_p_dJointGroupID arg1)
           
static SWIGTYPE_p_dJointID dJointCreateUniversal(SWIGTYPE_p_dWorldID arg0, SWIGTYPE_p_dJointGroupID arg1)
           
static void dJointDestroy(SWIGTYPE_p_dJointID arg0)
           
static float dJointGetAMotorAngle(SWIGTYPE_p_dJointID arg0, int anum)
           
static float dJointGetAMotorAngleRate(SWIGTYPE_p_dJointID arg0, int anum)
           
static void dJointGetAMotorAxis(SWIGTYPE_p_dJointID arg0, int anum, SWIGTYPE_p_float result)
           
static int dJointGetAMotorAxisRel(SWIGTYPE_p_dJointID arg0, int anum)
           
static int dJointGetAMotorMode(SWIGTYPE_p_dJointID arg0)
           
static int dJointGetAMotorNumAxes(SWIGTYPE_p_dJointID arg0)
           
static float dJointGetAMotorParam(SWIGTYPE_p_dJointID arg0, int parameter)
           
static void dJointGetBallAnchor(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static void dJointGetBallAnchor2(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static float dJointGetBallParam(SWIGTYPE_p_dJointID arg0, int parameter)
           
static SWIGTYPE_p_dBodyID dJointGetBody(SWIGTYPE_p_dJointID arg0, int index)
           
static SWIGTYPE_p_void dJointGetData(SWIGTYPE_p_dJointID arg0)
           
static dJointFeedback dJointGetFeedback(SWIGTYPE_p_dJointID arg0)
           
static float dJointGetFixedParam(SWIGTYPE_p_dJointID arg0, int parameter)
           
static void dJointGetHinge2Anchor(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static void dJointGetHinge2Anchor2(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static float dJointGetHinge2Angle1(SWIGTYPE_p_dJointID arg0)
           
static float dJointGetHinge2Angle1Rate(SWIGTYPE_p_dJointID arg0)
           
static float dJointGetHinge2Angle2Rate(SWIGTYPE_p_dJointID arg0)
           
static void dJointGetHinge2Axis1(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static void dJointGetHinge2Axis2(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static float dJointGetHinge2Param(SWIGTYPE_p_dJointID arg0, int parameter)
           
static void dJointGetHingeAnchor(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static void dJointGetHingeAnchor2(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static float dJointGetHingeAngle(SWIGTYPE_p_dJointID arg0)
           
static float dJointGetHingeAngleRate(SWIGTYPE_p_dJointID arg0)
           
static void dJointGetHingeAxis(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static float dJointGetHingeParam(SWIGTYPE_p_dJointID arg0, int parameter)
           
static void dJointGetSliderAxis(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static float dJointGetSliderParam(SWIGTYPE_p_dJointID arg0, int parameter)
           
static float dJointGetSliderPosition(SWIGTYPE_p_dJointID arg0)
           
static float dJointGetSliderPositionRate(SWIGTYPE_p_dJointID arg0)
           
static int dJointGetType(SWIGTYPE_p_dJointID arg0)
           
static void dJointGetUniversalAnchor(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static void dJointGetUniversalAnchor2(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static float dJointGetUniversalAngle1(SWIGTYPE_p_dJointID arg0)
           
static float dJointGetUniversalAngle1Rate(SWIGTYPE_p_dJointID arg0)
           
static float dJointGetUniversalAngle2(SWIGTYPE_p_dJointID arg0)
           
static float dJointGetUniversalAngle2Rate(SWIGTYPE_p_dJointID arg0)
           
static void dJointGetUniversalAxis1(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static void dJointGetUniversalAxis2(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_float result)
           
static float dJointGetUniversalParam(SWIGTYPE_p_dJointID arg0, int parameter)
           
static SWIGTYPE_p_dJointGroupID dJointGroupCreate(int max_size)
           
static void dJointGroupDestroy(SWIGTYPE_p_dJointGroupID arg0)
           
static void dJointGroupEmpty(SWIGTYPE_p_dJointGroupID arg0)
           
static void dJointSetAMotorAngle(SWIGTYPE_p_dJointID arg0, int anum, float angle)
           
static void dJointSetAMotorAxis(SWIGTYPE_p_dJointID arg0, int anum, int rel, float x, float y, float z)
           
static void dJointSetAMotorMode(SWIGTYPE_p_dJointID arg0, int mode)
           
static void dJointSetAMotorNumAxes(SWIGTYPE_p_dJointID arg0, int num)
           
static void dJointSetAMotorParam(SWIGTYPE_p_dJointID arg0, int parameter, float value)
           
static void dJointSetBallAnchor(SWIGTYPE_p_dJointID arg0, float x, float y, float z)
           
static void dJointSetBallParam(SWIGTYPE_p_dJointID arg0, int parameter, float value)
           
static void dJointSetBodiesCollide(SWIGTYPE_p_dJointID joint, int bodiesCollideEnabled)
           
static void dJointSetData(SWIGTYPE_p_dJointID arg0, SWIGTYPE_p_void data)
           
static void dJointSetFeedback(SWIGTYPE_p_dJointID arg0, dJointFeedback arg1)
           
static void dJointSetFixed(SWIGTYPE_p_dJointID arg0)
           
static void dJointSetFixedParam(SWIGTYPE_p_dJointID arg0, int parameter, float value)
           
static void dJointSetHinge2Anchor(SWIGTYPE_p_dJointID arg0, float x, float y, float z)
           
static void dJointSetHinge2Axis1(SWIGTYPE_p_dJointID arg0, float x, float y, float z)
           
static void dJointSetHinge2Axis2(SWIGTYPE_p_dJointID arg0, float x, float y, float z)
           
static void dJointSetHinge2Param(SWIGTYPE_p_dJointID arg0, int parameter, float value)
           
static void dJointSetHingeAnchor(SWIGTYPE_p_dJointID arg0, float x, float y, float z)
           
static void dJointSetHingeAxis(SWIGTYPE_p_dJointID arg0, float x, float y, float z)
           
static void dJointSetHingeParam(SWIGTYPE_p_dJointID arg0, int parameter, float value)
           
static void dJointSetSliderAxis(SWIGTYPE_p_dJointID arg0, float x, float y, float z)
           
static void dJointSetSliderParam(SWIGTYPE_p_dJointID arg0, int parameter, float value)
           
static void dJointSetUniversalAnchor(SWIGTYPE_p_dJointID arg0, float x, float y, float z)
           
static void dJointSetUniversalAxis1(SWIGTYPE_p_dJointID arg0, float x, float y, float z)
           
static void dJointSetUniversalAxis2(SWIGTYPE_p_dJointID arg0, float x, float y, float z)
           
static void dJointSetUniversalParam(SWIGTYPE_p_dJointID arg0, int parameter, float value)
           
static void dMassAdd(SWIGTYPE_p_dMass a, SWIGTYPE_p_dMass b)
           
static void dMassAdjust(SWIGTYPE_p_dMass arg0, float newmass)
           
static void dMassRotate(SWIGTYPE_p_dMass arg0, SWIGTYPE_p_float R)
           
static void dMassSetBox(SWIGTYPE_p_dMass arg0, float density, float lx, float ly, float lz)
           
static void dMassSetBoxTotal(SWIGTYPE_p_dMass arg0, float total_mass, float lx, float ly, float lz)
           
static void dMassSetCapsule(SWIGTYPE_p_dMass arg0, float density, int direction, float radius, float length)
           
static void dMassSetCapsuleTotal(SWIGTYPE_p_dMass arg0, float total_mass, int direction, float radius, float length)
           
static void dMassSetCylinder(SWIGTYPE_p_dMass arg0, float density, int direction, float radius, float length)
           
static void dMassSetCylinderTotal(SWIGTYPE_p_dMass arg0, float total_mass, int direction, float radius, float length)
           
static void dMassSetParameters(SWIGTYPE_p_dMass arg0, float themass, float cgx, float cgy, float cgz, float I11, float I22, float I33, float I12, float I13, float I23)
           
static void dMassSetSphere(SWIGTYPE_p_dMass arg0, float density, float radius)
           
static void dMassSetSphereTotal(SWIGTYPE_p_dMass arg0, float total_mass, float radius)
           
static void dMassSetTrimesh(SWIGTYPE_p_dMass arg0, float density, SWIGTYPE_p_dGeomID g)
           
static void dMassSetZero(SWIGTYPE_p_dMass arg0)
           
static void dMassTranslate(SWIGTYPE_p_dMass arg0, float x, float y, float z)
           
static void dQFromAxisAndAngle(SWIGTYPE_p_float q, float ax, float ay, float az, float angle)
           
static void dQMultiply0(SWIGTYPE_p_float qa, SWIGTYPE_p_float qb, SWIGTYPE_p_float qc)
           
static void dQMultiply1(SWIGTYPE_p_float qa, SWIGTYPE_p_float qb, SWIGTYPE_p_float qc)
           
static void dQMultiply2(SWIGTYPE_p_float qa, SWIGTYPE_p_float qb, SWIGTYPE_p_float qc)
           
static void dQMultiply3(SWIGTYPE_p_float qa, SWIGTYPE_p_float qb, SWIGTYPE_p_float qc)
           
static void dQSetIdentity(SWIGTYPE_p_float q)
           
static void dQtoR(SWIGTYPE_p_float q, SWIGTYPE_p_float R)
           
static SWIGTYPE_p_dSpaceID dQuadTreeSpaceCreate(SWIGTYPE_p_dSpaceID space, SWIGTYPE_p_float Center, SWIGTYPE_p_float Extents, int Depth)
           
static void dRandSetSeed(int seed)
           
static void dRFrom2Axes(SWIGTYPE_p_float R, float ax, float ay, float az, float bx, float by, float bz)
           
static void dRFromAxisAndAngle(SWIGTYPE_p_float R, float ax, float ay, float az, float angle)
           
static void dRFromEulerAngles(SWIGTYPE_p_float R, float phi, float theta, float psi)
           
static void dRFromZAxis(SWIGTYPE_p_float R, float ax, float ay, float az)
           
static void dRSetIdentity(SWIGTYPE_p_float R)
           
static void dRtoQ(SWIGTYPE_p_float R, SWIGTYPE_p_float q)
           
static SWIGTYPE_p_dSpaceID dSimpleSpaceCreate(SWIGTYPE_p_dSpaceID space)
           
static void dSpaceAdd(SWIGTYPE_p_dSpaceID arg0, SWIGTYPE_p_dGeomID arg1)
           
static void dSpaceCollide(SWIGTYPE_p_dSpaceID space, SWIGTYPE_p_void data, SWIGTYPE_p_f_p_void_dGeomID_dGeomID__void callback)
           
static void dSpaceDestroy(SWIGTYPE_p_dSpaceID arg0)
           
static int dSpaceGetCleanup(SWIGTYPE_p_dSpaceID space)
           
static SWIGTYPE_p_dGeomID dSpaceGetGeom(SWIGTYPE_p_dSpaceID arg0, int i)
           
static int dSpaceGetNumGeoms(SWIGTYPE_p_dSpaceID arg0)
           
static int dSpaceQuery(SWIGTYPE_p_dSpaceID arg0, SWIGTYPE_p_dGeomID arg1)
           
static void dSpaceRemove(SWIGTYPE_p_dSpaceID arg0, SWIGTYPE_p_dGeomID arg1)
           
static void dSpaceSetCleanup(SWIGTYPE_p_dSpaceID space, int mode)
           
static SWIGTYPE_p_dWorldID dWorldCreate()
           
static void dWorldDestroy(SWIGTYPE_p_dWorldID arg0)
           
static float dWorldGetAutoDisableAngularThreshold(SWIGTYPE_p_dWorldID arg0)
           
static int dWorldGetAutoDisableFlag(SWIGTYPE_p_dWorldID arg0)
           
static float dWorldGetAutoDisableLinearThreshold(SWIGTYPE_p_dWorldID arg0)
           
static int dWorldGetAutoDisableSteps(SWIGTYPE_p_dWorldID arg0)
           
static float dWorldGetAutoDisableTime(SWIGTYPE_p_dWorldID arg0)
           
static int dWorldGetAutoEnableDepthSF1(SWIGTYPE_p_dWorldID arg0)
           
static float dWorldGetCFM(SWIGTYPE_p_dWorldID arg0)
           
static float dWorldGetContactMaxCorrectingVel(SWIGTYPE_p_dWorldID arg0)
           
static float dWorldGetContactSurfaceLayer(SWIGTYPE_p_dWorldID arg0)
           
static float dWorldGetERP(SWIGTYPE_p_dWorldID arg0)
           
static void dWorldGetGravity(SWIGTYPE_p_dWorldID arg0, SWIGTYPE_p_float gravity)
           
static int dWorldGetQuickStepNumIterations(SWIGTYPE_p_dWorldID arg0)
           
static void dWorldImpulseToForce(SWIGTYPE_p_dWorldID arg0, float stepsize, float ix, float iy, float iz, SWIGTYPE_p_float force)
           
static void dWorldQuickStep(SWIGTYPE_p_dWorldID arg0, float stepsize)
           
static void dWorldSetAutoDisableAngularThreshold(SWIGTYPE_p_dWorldID arg0, float angular_threshold)
           
static void dWorldSetAutoDisableFlag(SWIGTYPE_p_dWorldID arg0, int do_auto_disable)
           
static void dWorldSetAutoDisableLinearThreshold(SWIGTYPE_p_dWorldID arg0, float linear_threshold)
           
static void dWorldSetAutoDisableSteps(SWIGTYPE_p_dWorldID arg0, int steps)
           
static void dWorldSetAutoDisableTime(SWIGTYPE_p_dWorldID arg0, float time)
           
static void dWorldSetAutoEnableDepthSF1(SWIGTYPE_p_dWorldID arg0, int autoEnableDepth)
           
static void dWorldSetCFM(SWIGTYPE_p_dWorldID arg0, float cfm)
           
static void dWorldSetContactMaxCorrectingVel(SWIGTYPE_p_dWorldID arg0, float vel)
           
static void dWorldSetContactSurfaceLayer(SWIGTYPE_p_dWorldID arg0, float depth)
           
static void dWorldSetERP(SWIGTYPE_p_dWorldID arg0, float erp)
           
static void dWorldSetGravity(SWIGTYPE_p_dWorldID arg0, float x, float y, float z)
           
static void dWorldSetQuickStepNumIterations(SWIGTYPE_p_dWorldID arg0, int num)
           
static void dWorldStep(SWIGTYPE_p_dWorldID arg0, float stepsize)
           
static void dWorldStepFast1(SWIGTYPE_p_dWorldID arg0, float stepsize, int maxiterations)
           
static void dWtoDQ(SWIGTYPE_p_float w, SWIGTYPE_p_float q, SWIGTYPE_p_float dq)
           
static float floatArray_getitem(SWIGTYPE_p_float ary, int index)
           
static void floatArray_setitem(SWIGTYPE_p_float ary, int index, float value)
           
static SWIGTYPE_p_dGeomID geomIDArray_getitem(SWIGTYPE_p_dGeomID ary, int index)
           
static void geomIDArray_setitem(SWIGTYPE_p_dGeomID ary, int index, SWIGTYPE_p_dGeomID value)
           
static SWIGTYPE_p_dBodyID getBODYID_ZERO()
           
static SWIGTYPE_p_dJointGroupID getJOINTGROUPID_ZERO()
           
static SWIGTYPE_p_dSpaceID getPARENTSPACEID_ZERO()
           
static int intArray_getitem(SWIGTYPE_p_int ary, int index)
           
static void intArray_setitem(SWIGTYPE_p_int ary, int index, int value)
           
static SWIGTYPE_p_float new_floatArray(int nelements)
           
static SWIGTYPE_p_dGeomID new_geomIDArray(int nelements)
           
static SWIGTYPE_p_int new_intArray(int nelements)
           
static void setSurfaceBounce(float bounce)
           
static void setSurfaceBounceVel(float bounceVel)
           
static void setSurfaceMode(int mode)
           
static void setSurfaceMotion1(float motion1)
           
static void setSurfaceMotion2(float motion2)
           
static void setSurfaceMu(float mu)
           
static void setSurfaceMu2(float mu2)
           
static void setSurfaceSlip1(float slip1)
           
static void setSurfaceSlip2(float slip2)
           
static void setSurfaceSoftCfm(float softCfm)
           
static void setSurfaceSoftErp(float softErp)
           
static int spaceCollide(SWIGTYPE_p_dSpaceID arg0)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

Ode

public Ode()
Method Detail

new_floatArray

public static SWIGTYPE_p_float new_floatArray(int nelements)

delete_floatArray

public static void delete_floatArray(SWIGTYPE_p_float ary)

floatArray_getitem

public static float floatArray_getitem(SWIGTYPE_p_float ary,
                                       int index)

floatArray_setitem

public static void floatArray_setitem(SWIGTYPE_p_float ary,
                                      int index,
                                      float value)

new_intArray

public static SWIGTYPE_p_int new_intArray(int nelements)

delete_intArray

public static void delete_intArray(SWIGTYPE_p_int ary)

intArray_getitem

public static int intArray_getitem(SWIGTYPE_p_int ary,
                                   int index)

intArray_setitem

public static void intArray_setitem(SWIGTYPE_p_int ary,
                                    int index,
                                    int value)

new_geomIDArray

public static SWIGTYPE_p_dGeomID new_geomIDArray(int nelements)

delete_geomIDArray

public static void delete_geomIDArray(SWIGTYPE_p_dGeomID ary)

geomIDArray_getitem

public static SWIGTYPE_p_dGeomID geomIDArray_getitem(SWIGTYPE_p_dGeomID ary,
                                                     int index)

geomIDArray_setitem

public static void geomIDArray_setitem(SWIGTYPE_p_dGeomID ary,
                                       int index,
                                       SWIGTYPE_p_dGeomID value)

getBODYID_ZERO

public static SWIGTYPE_p_dBodyID getBODYID_ZERO()

getJOINTGROUPID_ZERO

public static SWIGTYPE_p_dJointGroupID getJOINTGROUPID_ZERO()

getPARENTSPACEID_ZERO

public static SWIGTYPE_p_dSpaceID getPARENTSPACEID_ZERO()

createContactJoints

public static void createContactJoints(SWIGTYPE_p_dJointGroupID contactGroupID,
                                       SWIGTYPE_p_dWorldID worldID)

setSurfaceMode

public static void setSurfaceMode(int mode)

setSurfaceMu

public static void setSurfaceMu(float mu)

setSurfaceMu2

public static void setSurfaceMu2(float mu2)

setSurfaceBounce

public static void setSurfaceBounce(float bounce)

setSurfaceBounceVel

public static void setSurfaceBounceVel(float bounceVel)

setSurfaceMotion1

public static void setSurfaceMotion1(float motion1)

setSurfaceMotion2

public static void setSurfaceMotion2(float motion2)

setSurfaceSlip1

public static void setSurfaceSlip1(float slip1)

setSurfaceSlip2

public static void setSurfaceSlip2(float slip2)

setSurfaceSoftErp

public static void setSurfaceSoftErp(float softErp)

setSurfaceSoftCfm

public static void setSurfaceSoftCfm(float softCfm)

dInitODE

public static void dInitODE()

dCloseODE

public static void dCloseODE()

dGeomDestroy

public static void dGeomDestroy(SWIGTYPE_p_dGeomID arg0)

dGeomSetData

public static void dGeomSetData(SWIGTYPE_p_dGeomID arg0,
                                SWIGTYPE_p_void arg1)

dGeomGetData

public static SWIGTYPE_p_void dGeomGetData(SWIGTYPE_p_dGeomID arg0)

dGeomSetBody

public static void dGeomSetBody(SWIGTYPE_p_dGeomID arg0,
                                SWIGTYPE_p_dBodyID arg1)

dGeomGetBody

public static SWIGTYPE_p_dBodyID dGeomGetBody(SWIGTYPE_p_dGeomID arg0)

dGeomSetPosition

public static void dGeomSetPosition(SWIGTYPE_p_dGeomID arg0,
                                    float x,
                                    float y,
                                    float z)

dGeomSetRotation

public static void dGeomSetRotation(SWIGTYPE_p_dGeomID arg0,
                                    SWIGTYPE_p_float R)

dGeomSetQuaternion

public static void dGeomSetQuaternion(SWIGTYPE_p_dGeomID arg0,
                                      SWIGTYPE_p_float arg1)

dGeomGetPosition

public static SWIGTYPE_p_float dGeomGetPosition(SWIGTYPE_p_dGeomID arg0)

dGeomGetRotation

public static SWIGTYPE_p_float dGeomGetRotation(SWIGTYPE_p_dGeomID arg0)

dGeomGetQuaternion

public static void dGeomGetQuaternion(SWIGTYPE_p_dGeomID arg0,
                                      SWIGTYPE_p_float result)

dGeomGetAABB

public static void dGeomGetAABB(SWIGTYPE_p_dGeomID arg0,
                                SWIGTYPE_p_float aabb)

dGeomIsSpace

public static int dGeomIsSpace(SWIGTYPE_p_dGeomID arg0)

dGeomGetSpace

public static SWIGTYPE_p_dSpaceID dGeomGetSpace(SWIGTYPE_p_dGeomID arg0)

dGeomGetClass

public static int dGeomGetClass(SWIGTYPE_p_dGeomID arg0)

dGeomSetCategoryBits

public static void dGeomSetCategoryBits(SWIGTYPE_p_dGeomID arg0,
                                        long bits)

dGeomSetCollideBits

public static void dGeomSetCollideBits(SWIGTYPE_p_dGeomID arg0,
                                       long bits)

dGeomGetCategoryBits

public static long dGeomGetCategoryBits(SWIGTYPE_p_dGeomID arg0)

dGeomGetCollideBits

public static long dGeomGetCollideBits(SWIGTYPE_p_dGeomID arg0)

dGeomEnable

public static void dGeomEnable(SWIGTYPE_p_dGeomID arg0)

dGeomDisable

public static void dGeomDisable(SWIGTYPE_p_dGeomID arg0)

dGeomIsEnabled

public static int dGeomIsEnabled(SWIGTYPE_p_dGeomID arg0)

spaceCollide

public static int spaceCollide(SWIGTYPE_p_dSpaceID arg0)

dCollide

public static int dCollide(SWIGTYPE_p_dGeomID o1,
                           SWIGTYPE_p_dGeomID o2,
                           int flags,
                           dContactGeom contact,
                           int skip)

dSpaceCollide

public static void dSpaceCollide(SWIGTYPE_p_dSpaceID space,
                                 SWIGTYPE_p_void data,
                                 SWIGTYPE_p_f_p_void_dGeomID_dGeomID__void callback)

dCreateSphere

public static SWIGTYPE_p_dGeomID dCreateSphere(SWIGTYPE_p_dSpaceID space,
                                               float radius)

dGeomSphereSetRadius

public static void dGeomSphereSetRadius(SWIGTYPE_p_dGeomID sphere,
                                        float radius)

dGeomSphereGetRadius

public static float dGeomSphereGetRadius(SWIGTYPE_p_dGeomID sphere)

dGeomSpherePointDepth

public static float dGeomSpherePointDepth(SWIGTYPE_p_dGeomID sphere,
                                          float x,
                                          float y,
                                          float z)

dCreateBox

public static SWIGTYPE_p_dGeomID dCreateBox(SWIGTYPE_p_dSpaceID space,
                                            float lx,
                                            float ly,
                                            float lz)

dGeomBoxSetLengths

public static void dGeomBoxSetLengths(SWIGTYPE_p_dGeomID box,
                                      float lx,
                                      float ly,
                                      float lz)

dGeomBoxGetLengths

public static void dGeomBoxGetLengths(SWIGTYPE_p_dGeomID box,
                                      SWIGTYPE_p_float result)

dGeomBoxPointDepth

public static float dGeomBoxPointDepth(SWIGTYPE_p_dGeomID box,
                                       float x,
                                       float y,
                                       float z)

dCreatePlane

public static SWIGTYPE_p_dGeomID dCreatePlane(SWIGTYPE_p_dSpaceID space,
                                              float a,
                                              float b,
                                              float c,
                                              float d)

dGeomPlaneSetParams

public static void dGeomPlaneSetParams(SWIGTYPE_p_dGeomID plane,
                                       float a,
                                       float b,
                                       float c,
                                       float d)

dGeomPlaneGetParams

public static void dGeomPlaneGetParams(SWIGTYPE_p_dGeomID plane,
                                       SWIGTYPE_p_float result)

dGeomPlanePointDepth

public static float dGeomPlanePointDepth(SWIGTYPE_p_dGeomID plane,
                                         float x,
                                         float y,
                                         float z)

dCreateCapsule

public static SWIGTYPE_p_dGeomID dCreateCapsule(SWIGTYPE_p_dSpaceID space,
                                                float radius,
                                                float length)

dGeomCapsuleSetParams

public static void dGeomCapsuleSetParams(SWIGTYPE_p_dGeomID Capsule,
                                         float radius,
                                         float length)

dGeomCapsuleGetParams

public static void dGeomCapsuleGetParams(SWIGTYPE_p_dGeomID Capsule,
                                         SWIGTYPE_p_float radius,
                                         SWIGTYPE_p_float length)

dGeomCapsulePointDepth

public static float dGeomCapsulePointDepth(SWIGTYPE_p_dGeomID Capsule,
                                           float x,
                                           float y,
                                           float z)

dCreateRay

public static SWIGTYPE_p_dGeomID dCreateRay(SWIGTYPE_p_dSpaceID space,
                                            float length)

dGeomRaySetLength

public static void dGeomRaySetLength(SWIGTYPE_p_dGeomID ray,
                                     float length)

dGeomRayGetLength

public static float dGeomRayGetLength(SWIGTYPE_p_dGeomID ray)

dGeomRaySet

public static void dGeomRaySet(SWIGTYPE_p_dGeomID ray,
                               float px,
                               float py,
                               float pz,
                               float dx,
                               float dy,
                               float dz)

dGeomRayGet

public static void dGeomRayGet(SWIGTYPE_p_dGeomID ray,
                               SWIGTYPE_p_float start,
                               SWIGTYPE_p_float dir)

dGeomRaySetParams

public static void dGeomRaySetParams(SWIGTYPE_p_dGeomID g,
                                     int FirstContact,
                                     int BackfaceCull)

dGeomRayGetParams

public static void dGeomRayGetParams(SWIGTYPE_p_dGeomID g,
                                     SWIGTYPE_p_int FirstContact,
                                     SWIGTYPE_p_int BackfaceCull)

dCreateGeomTransform

public static SWIGTYPE_p_dGeomID dCreateGeomTransform(SWIGTYPE_p_dSpaceID space)

dGeomTransformSetGeom

public static void dGeomTransformSetGeom(SWIGTYPE_p_dGeomID g,
                                         SWIGTYPE_p_dGeomID obj)

dGeomTransformGetGeom

public static SWIGTYPE_p_dGeomID dGeomTransformGetGeom(SWIGTYPE_p_dGeomID g)

dGeomTransformSetCleanup

public static void dGeomTransformSetCleanup(SWIGTYPE_p_dGeomID g,
                                            int mode)

dGeomTransformGetCleanup

public static int dGeomTransformGetCleanup(SWIGTYPE_p_dGeomID g)

dGeomTransformSetInfo

public static void dGeomTransformSetInfo(SWIGTYPE_p_dGeomID g,
                                         int mode)

dGeomTransformGetInfo

public static int dGeomTransformGetInfo(SWIGTYPE_p_dGeomID g)

dClosestLineSegmentPoints

public static void dClosestLineSegmentPoints(SWIGTYPE_p_float a1,
                                             SWIGTYPE_p_float a2,
                                             SWIGTYPE_p_float b1,
                                             SWIGTYPE_p_float b2,
                                             SWIGTYPE_p_float cp1,
                                             SWIGTYPE_p_float cp2)

dBoxTouchesBox

public static int dBoxTouchesBox(SWIGTYPE_p_float _p1,
                                 SWIGTYPE_p_float R1,
                                 SWIGTYPE_p_float side1,
                                 SWIGTYPE_p_float _p2,
                                 SWIGTYPE_p_float R2,
                                 SWIGTYPE_p_float side2)

dInfiniteAABB

public static void dInfiniteAABB(SWIGTYPE_p_dGeomID geom,
                                 SWIGTYPE_p_float aabb)

dCreateGeomClass

public static int dCreateGeomClass(dGeomClass classptr)

dGeomGetClassData

public static SWIGTYPE_p_void dGeomGetClassData(SWIGTYPE_p_dGeomID arg0)

dCreateGeom

public static SWIGTYPE_p_dGeomID dCreateGeom(int classnum)

dSimpleSpaceCreate

public static SWIGTYPE_p_dSpaceID dSimpleSpaceCreate(SWIGTYPE_p_dSpaceID space)

dHashSpaceCreate

public static SWIGTYPE_p_dSpaceID dHashSpaceCreate(SWIGTYPE_p_dSpaceID space)

dQuadTreeSpaceCreate

public static SWIGTYPE_p_dSpaceID dQuadTreeSpaceCreate(SWIGTYPE_p_dSpaceID space,
                                                       SWIGTYPE_p_float Center,
                                                       SWIGTYPE_p_float Extents,
                                                       int Depth)

dSpaceDestroy

public static void dSpaceDestroy(SWIGTYPE_p_dSpaceID arg0)

dHashSpaceSetLevels

public static void dHashSpaceSetLevels(SWIGTYPE_p_dSpaceID space,
                                       int minlevel,
                                       int maxlevel)

dSpaceSetCleanup

public static void dSpaceSetCleanup(SWIGTYPE_p_dSpaceID space,
                                    int mode)

dSpaceGetCleanup

public static int dSpaceGetCleanup(SWIGTYPE_p_dSpaceID space)

dSpaceAdd

public static void dSpaceAdd(SWIGTYPE_p_dSpaceID arg0,
                             SWIGTYPE_p_dGeomID arg1)

dSpaceRemove

public static void dSpaceRemove(SWIGTYPE_p_dSpaceID arg0,
                                SWIGTYPE_p_dGeomID arg1)

dSpaceQuery

public static int dSpaceQuery(SWIGTYPE_p_dSpaceID arg0,
                              SWIGTYPE_p_dGeomID arg1)

dSpaceGetNumGeoms

public static int dSpaceGetNumGeoms(SWIGTYPE_p_dSpaceID arg0)

dSpaceGetGeom

public static SWIGTYPE_p_dGeomID dSpaceGetGeom(SWIGTYPE_p_dSpaceID arg0,
                                               int i)

dGeomTriMeshDataCreate

public static SWIGTYPE_p_dxTriMeshData dGeomTriMeshDataCreate()

dGeomTriMeshDataDestroy

public static void dGeomTriMeshDataDestroy(SWIGTYPE_p_dxTriMeshData g)

dGeomTriMeshDataSet

public static void dGeomTriMeshDataSet(SWIGTYPE_p_dxTriMeshData g,
                                       int data_id,
                                       SWIGTYPE_p_void in_data)

dGeomTriMeshDataGet

public static SWIGTYPE_p_void dGeomTriMeshDataGet(SWIGTYPE_p_dxTriMeshData g,
                                                  int data_id)

dGeomTriMeshSetLastTransform

public static void dGeomTriMeshSetLastTransform(SWIGTYPE_p_dGeomID g,
                                                SWIGTYPE_p_float last_trans)

dGeomTriMeshGetLastTransform

public static SWIGTYPE_p_float dGeomTriMeshGetLastTransform(SWIGTYPE_p_dGeomID g)

dGeomTriMeshDataBuildSingle

public static void dGeomTriMeshDataBuildSingle(SWIGTYPE_p_dxTriMeshData g,
                                               SWIGTYPE_p_void Vertices,
                                               int VertexStride,
                                               int VertexCount,
                                               SWIGTYPE_p_void Indices,
                                               int IndexCount,
                                               int TriStride)

dGeomTriMeshDataBuildSingle1

public static void dGeomTriMeshDataBuildSingle1(SWIGTYPE_p_dxTriMeshData g,
                                                SWIGTYPE_p_void Vertices,
                                                int VertexStride,
                                                int VertexCount,
                                                SWIGTYPE_p_void Indices,
                                                int IndexCount,
                                                int TriStride,
                                                SWIGTYPE_p_void Normals)

dGeomTriMeshDataBuildDouble

public static void dGeomTriMeshDataBuildDouble(SWIGTYPE_p_dxTriMeshData g,
                                               SWIGTYPE_p_void Vertices,
                                               int VertexStride,
                                               int VertexCount,
                                               SWIGTYPE_p_void Indices,
                                               int IndexCount,
                                               int TriStride)

dGeomTriMeshDataBuildDouble1

public static void dGeomTriMeshDataBuildDouble1(SWIGTYPE_p_dxTriMeshData g,
                                                SWIGTYPE_p_void Vertices,
                                                int VertexStride,
                                                int VertexCount,
                                                SWIGTYPE_p_void Indices,
                                                int IndexCount,
                                                int TriStride,
                                                SWIGTYPE_p_void Normals)

dGeomTriMeshDataBuildSimple

public static void dGeomTriMeshDataBuildSimple(SWIGTYPE_p_dxTriMeshData g,
                                               SWIGTYPE_p_float Vertices,
                                               int VertexCount,
                                               SWIGTYPE_p_dTriIndex Indices,
                                               int IndexCount)

dGeomTriMeshDataBuildSimple1

public static void dGeomTriMeshDataBuildSimple1(SWIGTYPE_p_dxTriMeshData g,
                                                SWIGTYPE_p_float Vertices,
                                                int VertexCount,
                                                SWIGTYPE_p_dTriIndex Indices,
                                                int IndexCount,
                                                SWIGTYPE_p_int Normals)

dGeomTriMeshDataPreprocess

public static void dGeomTriMeshDataPreprocess(SWIGTYPE_p_dxTriMeshData g)

dGeomTriMeshDataGetBuffer

public static void dGeomTriMeshDataGetBuffer(SWIGTYPE_p_dxTriMeshData g,
                                             SWIGTYPE_p_p_unsigned_char buf,
                                             SWIGTYPE_p_int bufLen)

dGeomTriMeshDataSetBuffer

public static void dGeomTriMeshDataSetBuffer(SWIGTYPE_p_dxTriMeshData g,
                                             SWIGTYPE_p_unsigned_char buf)

dGeomTriMeshSetCallback

public static void dGeomTriMeshSetCallback(SWIGTYPE_p_dGeomID g,
                                           SWIGTYPE_p_dTriCallback Callback)

dGeomTriMeshGetCallback

public static SWIGTYPE_p_dTriCallback dGeomTriMeshGetCallback(SWIGTYPE_p_dGeomID g)

dGeomTriMeshSetArrayCallback

public static void dGeomTriMeshSetArrayCallback(SWIGTYPE_p_dGeomID g,
                                                SWIGTYPE_p_dTriArrayCallback ArrayCallback)

dGeomTriMeshGetArrayCallback

public static SWIGTYPE_p_dTriArrayCallback dGeomTriMeshGetArrayCallback(SWIGTYPE_p_dGeomID g)

dGeomTriMeshSetRayCallback

public static void dGeomTriMeshSetRayCallback(SWIGTYPE_p_dGeomID g,
                                              SWIGTYPE_p_dTriRayCallback Callback)

dGeomTriMeshGetRayCallback

public static SWIGTYPE_p_dTriRayCallback dGeomTriMeshGetRayCallback(SWIGTYPE_p_dGeomID g)

dGeomTriMeshSetTriMergeCallback

public static void dGeomTriMeshSetTriMergeCallback(SWIGTYPE_p_dGeomID g,
                                                   SWIGTYPE_p_f_dGeomID_int_int__int Callback)

dGeomTriMeshGetTriMergeCallback

public static SWIGTYPE_p_f_dGeomID_int_int__int dGeomTriMeshGetTriMergeCallback(SWIGTYPE_p_dGeomID g)

dCreateTriMesh

public static SWIGTYPE_p_dGeomID dCreateTriMesh(SWIGTYPE_p_dSpaceID space,
                                                SWIGTYPE_p_dxTriMeshData Data,
                                                SWIGTYPE_p_dTriCallback Callback,
                                                SWIGTYPE_p_dTriArrayCallback ArrayCallback,
                                                SWIGTYPE_p_dTriRayCallback RayCallback)

dGeomTriMeshSetData

public static void dGeomTriMeshSetData(SWIGTYPE_p_dGeomID g,
                                       SWIGTYPE_p_dxTriMeshData Data)

dGeomTriMeshGetData

public static SWIGTYPE_p_dxTriMeshData dGeomTriMeshGetData(SWIGTYPE_p_dGeomID g)

dGeomTriMeshEnableTC

public static void dGeomTriMeshEnableTC(SWIGTYPE_p_dGeomID g,
                                        int geomClass,
                                        int enable)

dGeomTriMeshIsTCEnabled

public static int dGeomTriMeshIsTCEnabled(SWIGTYPE_p_dGeomID g,
                                          int geomClass)

dGeomTriMeshClearTCCache

public static void dGeomTriMeshClearTCCache(SWIGTYPE_p_dGeomID g)

dGeomTriMeshGetTriMeshDataID

public static SWIGTYPE_p_dxTriMeshData dGeomTriMeshGetTriMeshDataID(SWIGTYPE_p_dGeomID g)

dGeomTriMeshGetTriangle

public static void dGeomTriMeshGetTriangle(SWIGTYPE_p_dGeomID g,
                                           int Index,
                                           SWIGTYPE_p_a_4__float v0,
                                           SWIGTYPE_p_a_4__float v1,
                                           SWIGTYPE_p_a_4__float v2)

dGeomTriMeshGetPoint

public static void dGeomTriMeshGetPoint(SWIGTYPE_p_dGeomID g,
                                        int Index,
                                        float u,
                                        float v,
                                        SWIGTYPE_p_float Out)

dGeomTriMeshGetTriangleCount

public static int dGeomTriMeshGetTriangleCount(SWIGTYPE_p_dGeomID g)

dGeomTriMeshDataUpdate

public static void dGeomTriMeshDataUpdate(SWIGTYPE_p_dxTriMeshData g)

dMassSetZero

public static void dMassSetZero(SWIGTYPE_p_dMass arg0)

dMassSetParameters

public static void dMassSetParameters(SWIGTYPE_p_dMass arg0,
                                      float themass,
                                      float cgx,
                                      float cgy,
                                      float cgz,
                                      float I11,
                                      float I22,
                                      float I33,
                                      float I12,
                                      float I13,
                                      float I23)

dMassSetSphere

public static void dMassSetSphere(SWIGTYPE_p_dMass arg0,
                                  float density,
                                  float radius)

dMassSetSphereTotal

public static void dMassSetSphereTotal(SWIGTYPE_p_dMass arg0,
                                       float total_mass,
                                       float radius)

dMassSetCapsule

public static void dMassSetCapsule(SWIGTYPE_p_dMass arg0,
                                   float density,
                                   int direction,
                                   float radius,
                                   float length)

dMassSetCapsuleTotal

public static void dMassSetCapsuleTotal(SWIGTYPE_p_dMass arg0,
                                        float total_mass,
                                        int direction,
                                        float radius,
                                        float length)

dMassSetCylinder

public static void dMassSetCylinder(SWIGTYPE_p_dMass arg0,
                                    float density,
                                    int direction,
                                    float radius,
                                    float length)

dMassSetCylinderTotal

public static void dMassSetCylinderTotal(SWIGTYPE_p_dMass arg0,
                                         float total_mass,
                                         int direction,
                                         float radius,
                                         float length)

dMassSetBox

public static void dMassSetBox(SWIGTYPE_p_dMass arg0,
                               float density,
                               float lx,
                               float ly,
                               float lz)

dMassSetBoxTotal

public static void dMassSetBoxTotal(SWIGTYPE_p_dMass arg0,
                                    float total_mass,
                                    float lx,
                                    float ly,
                                    float lz)

dMassAdjust

public static void dMassAdjust(SWIGTYPE_p_dMass arg0,
                               float newmass)

dMassSetTrimesh

public static void dMassSetTrimesh(SWIGTYPE_p_dMass arg0,
                                   float density,
                                   SWIGTYPE_p_dGeomID g)

dMassTranslate

public static void dMassTranslate(SWIGTYPE_p_dMass arg0,
                                  float x,
                                  float y,
                                  float z)

dMassRotate

public static void dMassRotate(SWIGTYPE_p_dMass arg0,
                               SWIGTYPE_p_float R)

dMassAdd

public static void dMassAdd(SWIGTYPE_p_dMass a,
                            SWIGTYPE_p_dMass b)

dWorldCreate

public static SWIGTYPE_p_dWorldID dWorldCreate()

dWorldDestroy

public static void dWorldDestroy(SWIGTYPE_p_dWorldID arg0)

dWorldSetGravity

public static void dWorldSetGravity(SWIGTYPE_p_dWorldID arg0,
                                    float x,
                                    float y,
                                    float z)

dWorldGetGravity

public static void dWorldGetGravity(SWIGTYPE_p_dWorldID arg0,
                                    SWIGTYPE_p_float gravity)

dWorldSetERP

public static void dWorldSetERP(SWIGTYPE_p_dWorldID arg0,
                                float erp)

dWorldGetERP

public static float dWorldGetERP(SWIGTYPE_p_dWorldID arg0)

dWorldSetCFM

public static void dWorldSetCFM(SWIGTYPE_p_dWorldID arg0,
                                float cfm)

dWorldGetCFM

public static float dWorldGetCFM(SWIGTYPE_p_dWorldID arg0)

dWorldImpulseToForce

public static void dWorldImpulseToForce(SWIGTYPE_p_dWorldID arg0,
                                        float stepsize,
                                        float ix,
                                        float iy,
                                        float iz,
                                        SWIGTYPE_p_float force)

dWorldSetAutoDisableFlag

public static void dWorldSetAutoDisableFlag(SWIGTYPE_p_dWorldID arg0,
                                            int do_auto_disable)

dWorldGetAutoDisableFlag

public static int dWorldGetAutoDisableFlag(SWIGTYPE_p_dWorldID arg0)

dWorldSetAutoDisableLinearThreshold

public static void dWorldSetAutoDisableLinearThreshold(SWIGTYPE_p_dWorldID arg0,
                                                       float linear_threshold)

dWorldGetAutoDisableLinearThreshold

public static float dWorldGetAutoDisableLinearThreshold(SWIGTYPE_p_dWorldID arg0)

dWorldSetAutoDisableAngularThreshold

public static void dWorldSetAutoDisableAngularThreshold(SWIGTYPE_p_dWorldID arg0,
                                                        float angular_threshold)

dWorldGetAutoDisableAngularThreshold

public static float dWorldGetAutoDisableAngularThreshold(SWIGTYPE_p_dWorldID arg0)

dWorldSetAutoDisableSteps

public static void dWorldSetAutoDisableSteps(SWIGTYPE_p_dWorldID arg0,
                                             int steps)

dWorldGetAutoDisableSteps

public static int dWorldGetAutoDisableSteps(SWIGTYPE_p_dWorldID arg0)

dWorldSetAutoDisableTime

public static void dWorldSetAutoDisableTime(SWIGTYPE_p_dWorldID arg0,
                                            float time)

dWorldGetAutoDisableTime

public static float dWorldGetAutoDisableTime(SWIGTYPE_p_dWorldID arg0)

dWorldSetContactMaxCorrectingVel

public static void dWorldSetContactMaxCorrectingVel(SWIGTYPE_p_dWorldID arg0,
                                                    float vel)

dWorldGetContactMaxCorrectingVel

public static float dWorldGetContactMaxCorrectingVel(SWIGTYPE_p_dWorldID arg0)

dWorldSetContactSurfaceLayer

public static void dWorldSetContactSurfaceLayer(SWIGTYPE_p_dWorldID arg0,
                                                float depth)

dWorldGetContactSurfaceLayer

public static float dWorldGetContactSurfaceLayer(SWIGTYPE_p_dWorldID arg0)

dWorldStep

public static void dWorldStep(SWIGTYPE_p_dWorldID arg0,
                              float stepsize)

dWorldStepFast1

public static void dWorldStepFast1(SWIGTYPE_p_dWorldID arg0,
                                   float stepsize,
                                   int maxiterations)

dWorldQuickStep

public static void dWorldQuickStep(SWIGTYPE_p_dWorldID arg0,
                                   float stepsize)

dWorldSetAutoEnableDepthSF1

public static void dWorldSetAutoEnableDepthSF1(SWIGTYPE_p_dWorldID arg0,
                                               int autoEnableDepth)

dWorldGetAutoEnableDepthSF1

public static int dWorldGetAutoEnableDepthSF1(SWIGTYPE_p_dWorldID arg0)

dWorldSetQuickStepNumIterations

public static void dWorldSetQuickStepNumIterations(SWIGTYPE_p_dWorldID arg0,
                                                   int num)

dWorldGetQuickStepNumIterations

public static int dWorldGetQuickStepNumIterations(SWIGTYPE_p_dWorldID arg0)

dBodyCreate

public static SWIGTYPE_p_dBodyID dBodyCreate(SWIGTYPE_p_dWorldID arg0)

dBodyDestroy

public static void dBodyDestroy(SWIGTYPE_p_dBodyID arg0)

dBodySetData

public static void dBodySetData(SWIGTYPE_p_dBodyID arg0,
                                SWIGTYPE_p_void data)

dBodyGetData

public static SWIGTYPE_p_void dBodyGetData(SWIGTYPE_p_dBodyID arg0)

dBodySetPosition

public static void dBodySetPosition(SWIGTYPE_p_dBodyID arg0,
                                    float x,
                                    float y,
                                    float z)

dBodySetRotation

public static void dBodySetRotation(SWIGTYPE_p_dBodyID arg0,
                                    SWIGTYPE_p_float R)

dBodySetQuaternion

public static void dBodySetQuaternion(SWIGTYPE_p_dBodyID arg0,
                                      SWIGTYPE_p_float q)

dBodySetLinearVel

public static void dBodySetLinearVel(SWIGTYPE_p_dBodyID arg0,
                                     float x,
                                     float y,
                                     float z)

dBodySetAngularVel

public static void dBodySetAngularVel(SWIGTYPE_p_dBodyID arg0,
                                      float x,
                                      float y,
                                      float z)

dBodyGetPosition

public static SWIGTYPE_p_float dBodyGetPosition(SWIGTYPE_p_dBodyID arg0)

dBodyGetRotation

public static SWIGTYPE_p_float dBodyGetRotation(SWIGTYPE_p_dBodyID arg0)

dBodyGetQuaternion

public static SWIGTYPE_p_float dBodyGetQuaternion(SWIGTYPE_p_dBodyID arg0)

dBodyGetLinearVel

public static SWIGTYPE_p_float dBodyGetLinearVel(SWIGTYPE_p_dBodyID arg0)

dBodyGetAngularVel

public static SWIGTYPE_p_float dBodyGetAngularVel(SWIGTYPE_p_dBodyID arg0)

dBodySetMass

public static void dBodySetMass(SWIGTYPE_p_dBodyID arg0,
                                SWIGTYPE_p_dMass mass)

dBodyGetMass

public static void dBodyGetMass(SWIGTYPE_p_dBodyID arg0,
                                SWIGTYPE_p_dMass mass)

dBodyAddForce

public static void dBodyAddForce(SWIGTYPE_p_dBodyID arg0,
                                 float fx,
                                 float fy,
                                 float fz)

dBodyAddTorque

public static void dBodyAddTorque(SWIGTYPE_p_dBodyID arg0,
                                  float fx,
                                  float fy,
                                  float fz)

dBodyAddRelForce

public static void dBodyAddRelForce(SWIGTYPE_p_dBodyID arg0,
                                    float fx,
                                    float fy,
                                    float fz)

dBodyAddRelTorque

public static void dBodyAddRelTorque(SWIGTYPE_p_dBodyID arg0,
                                     float fx,
                                     float fy,
                                     float fz)

dBodyAddForceAtPos

public static void dBodyAddForceAtPos(SWIGTYPE_p_dBodyID arg0,
                                      float fx,
                                      float fy,
                                      float fz,
                                      float px,
                                      float py,
                                      float pz)

dBodyAddForceAtRelPos

public static void dBodyAddForceAtRelPos(SWIGTYPE_p_dBodyID arg0,
                                         float fx,
                                         float fy,
                                         float fz,
                                         float px,
                                         float py,
                                         float pz)

dBodyAddRelForceAtPos

public static void dBodyAddRelForceAtPos(SWIGTYPE_p_dBodyID arg0,
                                         float fx,
                                         float fy,
                                         float fz,
                                         float px,
                                         float py,
                                         float pz)

dBodyAddRelForceAtRelPos

public static void dBodyAddRelForceAtRelPos(SWIGTYPE_p_dBodyID arg0,
                                            float fx,
                                            float fy,
                                            float fz,
                                            float px,
                                            float py,
                                            float pz)

dBodyGetForce

public static SWIGTYPE_p_float dBodyGetForce(SWIGTYPE_p_dBodyID arg0)

dBodyGetTorque

public static SWIGTYPE_p_float dBodyGetTorque(SWIGTYPE_p_dBodyID arg0)

dBodySetForce

public static void dBodySetForce(SWIGTYPE_p_dBodyID b,
                                 float x,
                                 float y,
                                 float z)

dBodySetTorque

public static void dBodySetTorque(SWIGTYPE_p_dBodyID b,
                                  float x,
                                  float y,
                                  float z)

dBodyGetRelPointPos

public static void dBodyGetRelPointPos(SWIGTYPE_p_dBodyID arg0,
                                       float px,
                                       float py,
                                       float pz,
                                       SWIGTYPE_p_float result)

dBodyGetRelPointVel

public static void dBodyGetRelPointVel(SWIGTYPE_p_dBodyID arg0,
                                       float px,
                                       float py,
                                       float pz,
                                       SWIGTYPE_p_float result)

dBodyGetPointVel

public static void dBodyGetPointVel(SWIGTYPE_p_dBodyID arg0,
                                    float px,
                                    float py,
                                    float pz,
                                    SWIGTYPE_p_float result)

dBodyGetPosRelPoint

public static void dBodyGetPosRelPoint(SWIGTYPE_p_dBodyID arg0,
                                       float px,
                                       float py,
                                       float pz,
                                       SWIGTYPE_p_float result)

dBodyVectorToWorld

public static void dBodyVectorToWorld(SWIGTYPE_p_dBodyID arg0,
                                      float px,
                                      float py,
                                      float pz,
                                      SWIGTYPE_p_float result)

dBodyVectorFromWorld

public static void dBodyVectorFromWorld(SWIGTYPE_p_dBodyID arg0,
                                        float px,
                                        float py,
                                        float pz,
                                        SWIGTYPE_p_float result)

dBodySetFiniteRotationMode

public static void dBodySetFiniteRotationMode(SWIGTYPE_p_dBodyID arg0,
                                              int mode)

dBodySetFiniteRotationAxis

public static void dBodySetFiniteRotationAxis(SWIGTYPE_p_dBodyID arg0,
                                              float x,
                                              float y,
                                              float z)

dBodyGetFiniteRotationMode

public static int dBodyGetFiniteRotationMode(SWIGTYPE_p_dBodyID arg0)

dBodyGetFiniteRotationAxis

public static void dBodyGetFiniteRotationAxis(SWIGTYPE_p_dBodyID arg0,
                                              SWIGTYPE_p_float result)

dBodyGetNumJoints

public static int dBodyGetNumJoints(SWIGTYPE_p_dBodyID b)

dBodyGetJoint

public static SWIGTYPE_p_dJointID dBodyGetJoint(SWIGTYPE_p_dBodyID arg0,
                                                int index)

dBodyEnable

public static void dBodyEnable(SWIGTYPE_p_dBodyID arg0)

dBodyDisable

public static void dBodyDisable(SWIGTYPE_p_dBodyID arg0)

dBodyIsEnabled

public static int dBodyIsEnabled(SWIGTYPE_p_dBodyID arg0)

dBodySetGravityMode

public static void dBodySetGravityMode(SWIGTYPE_p_dBodyID b,
                                       int mode)

dBodyGetGravityMode

public static int dBodyGetGravityMode(SWIGTYPE_p_dBodyID b)

dBodySetAutoDisableDefaults

public static void dBodySetAutoDisableDefaults(SWIGTYPE_p_dBodyID arg0)

dBodySetAutoDisableFlag

public static void dBodySetAutoDisableFlag(SWIGTYPE_p_dBodyID arg0,
                                           int do_auto_disable)

dBodyGetAutoDisableFlag

public static int dBodyGetAutoDisableFlag(SWIGTYPE_p_dBodyID arg0)

dBodySetAutoDisableLinearThreshold

public static void dBodySetAutoDisableLinearThreshold(SWIGTYPE_p_dBodyID arg0,
                                                      float linear_threshold)

dBodyGetAutoDisableLinearThreshold

public static float dBodyGetAutoDisableLinearThreshold(SWIGTYPE_p_dBodyID arg0)

dBodySetAutoDisableAngularThreshold

public static void dBodySetAutoDisableAngularThreshold(SWIGTYPE_p_dBodyID arg0,
                                                       float angular_threshold)

dBodyGetAutoDisableAngularThreshold

public static float dBodyGetAutoDisableAngularThreshold(SWIGTYPE_p_dBodyID arg0)

dBodySetAutoDisableSteps

public static void dBodySetAutoDisableSteps(SWIGTYPE_p_dBodyID arg0,
                                            int steps)

dBodyGetAutoDisableSteps

public static int dBodyGetAutoDisableSteps(SWIGTYPE_p_dBodyID arg0)

dBodySetAutoDisableTime

public static void dBodySetAutoDisableTime(SWIGTYPE_p_dBodyID arg0,
                                           float time)

dBodyGetAutoDisableTime

public static float dBodyGetAutoDisableTime(SWIGTYPE_p_dBodyID arg0)

dJointSetBodiesCollide

public static void dJointSetBodiesCollide(SWIGTYPE_p_dJointID joint,
                                          int bodiesCollideEnabled)

dJointCreateBall

public static SWIGTYPE_p_dJointID dJointCreateBall(SWIGTYPE_p_dWorldID arg0,
                                                   SWIGTYPE_p_dJointGroupID arg1)

dJointCreateHinge

public static SWIGTYPE_p_dJointID dJointCreateHinge(SWIGTYPE_p_dWorldID arg0,
                                                    SWIGTYPE_p_dJointGroupID arg1)

dJointCreateSlider

public static SWIGTYPE_p_dJointID dJointCreateSlider(SWIGTYPE_p_dWorldID arg0,
                                                     SWIGTYPE_p_dJointGroupID arg1)

dJointCreateContact

public static SWIGTYPE_p_dJointID dJointCreateContact(SWIGTYPE_p_dWorldID arg0,
                                                      SWIGTYPE_p_dJointGroupID arg1,
                                                      dContact arg2)

dJointCreateHinge2

public static SWIGTYPE_p_dJointID dJointCreateHinge2(SWIGTYPE_p_dWorldID arg0,
                                                     SWIGTYPE_p_dJointGroupID arg1)

dJointCreateUniversal

public static SWIGTYPE_p_dJointID dJointCreateUniversal(SWIGTYPE_p_dWorldID arg0,
                                                        SWIGTYPE_p_dJointGroupID arg1)

dJointCreateFixed

public static SWIGTYPE_p_dJointID dJointCreateFixed(SWIGTYPE_p_dWorldID arg0,
                                                    SWIGTYPE_p_dJointGroupID arg1)

dJointCreateNull

public static SWIGTYPE_p_dJointID dJointCreateNull(SWIGTYPE_p_dWorldID arg0,
                                                   SWIGTYPE_p_dJointGroupID arg1)

dJointCreateAMotor

public static SWIGTYPE_p_dJointID dJointCreateAMotor(SWIGTYPE_p_dWorldID arg0,
                                                     SWIGTYPE_p_dJointGroupID arg1)

dJointDestroy

public static void dJointDestroy(SWIGTYPE_p_dJointID arg0)

dJointGroupCreate

public static SWIGTYPE_p_dJointGroupID dJointGroupCreate(int max_size)

dJointGroupDestroy

public static void dJointGroupDestroy(SWIGTYPE_p_dJointGroupID arg0)

dJointGroupEmpty

public static void dJointGroupEmpty(SWIGTYPE_p_dJointGroupID arg0)

dJointAttach

public static void dJointAttach(SWIGTYPE_p_dJointID arg0,
                                SWIGTYPE_p_dBodyID body1,
                                SWIGTYPE_p_dBodyID body2)

dJointSetData

public static void dJointSetData(SWIGTYPE_p_dJointID arg0,
                                 SWIGTYPE_p_void data)

dJointGetData

public static SWIGTYPE_p_void dJointGetData(SWIGTYPE_p_dJointID arg0)

dJointGetType

public static int dJointGetType(SWIGTYPE_p_dJointID arg0)

dJointGetBody

public static SWIGTYPE_p_dBodyID dJointGetBody(SWIGTYPE_p_dJointID arg0,
                                               int index)

dJointSetFeedback

public static void dJointSetFeedback(SWIGTYPE_p_dJointID arg0,
                                     dJointFeedback arg1)

dJointGetFeedback

public static dJointFeedback dJointGetFeedback(SWIGTYPE_p_dJointID arg0)

dJointSetBallAnchor

public static void dJointSetBallAnchor(SWIGTYPE_p_dJointID arg0,
                                       float x,
                                       float y,
                                       float z)

dJointSetBallParam

public static void dJointSetBallParam(SWIGTYPE_p_dJointID arg0,
                                      int parameter,
                                      float value)

dJointGetBallParam

public static float dJointGetBallParam(SWIGTYPE_p_dJointID arg0,
                                       int parameter)

dJointSetHingeAnchor

public static void dJointSetHingeAnchor(SWIGTYPE_p_dJointID arg0,
                                        float x,
                                        float y,
                                        float z)

dJointSetHingeAxis

public static void dJointSetHingeAxis(SWIGTYPE_p_dJointID arg0,
                                      float x,
                                      float y,
                                      float z)

dJointSetHingeParam

public static void dJointSetHingeParam(SWIGTYPE_p_dJointID arg0,
                                       int parameter,
                                       float value)

dJointAddHingeTorque

public static void dJointAddHingeTorque(SWIGTYPE_p_dJointID joint,
                                        float torque)

dJointSetSliderAxis

public static void dJointSetSliderAxis(SWIGTYPE_p_dJointID arg0,
                                       float x,
                                       float y,
                                       float z)

dJointSetSliderParam

public static void dJointSetSliderParam(SWIGTYPE_p_dJointID arg0,
                                        int parameter,
                                        float value)

dJointAddSliderForce

public static void dJointAddSliderForce(SWIGTYPE_p_dJointID joint,
                                        float force)

dJointSetHinge2Anchor

public static void dJointSetHinge2Anchor(SWIGTYPE_p_dJointID arg0,
                                         float x,
                                         float y,
                                         float z)

dJointSetHinge2Axis1

public static void dJointSetHinge2Axis1(SWIGTYPE_p_dJointID arg0,
                                        float x,
                                        float y,
                                        float z)

dJointSetHinge2Axis2

public static void dJointSetHinge2Axis2(SWIGTYPE_p_dJointID arg0,
                                        float x,
                                        float y,
                                        float z)

dJointSetHinge2Param

public static void dJointSetHinge2Param(SWIGTYPE_p_dJointID arg0,
                                        int parameter,
                                        float value)

dJointAddHinge2Torques

public static void dJointAddHinge2Torques(SWIGTYPE_p_dJointID joint,
                                          float torque1,
                                          float torque2)

dJointSetUniversalAnchor

public static void dJointSetUniversalAnchor(SWIGTYPE_p_dJointID arg0,
                                            float x,
                                            float y,
                                            float z)

dJointSetUniversalAxis1

public static void dJointSetUniversalAxis1(SWIGTYPE_p_dJointID arg0,
                                           float x,
                                           float y,
                                           float z)

dJointSetUniversalAxis2

public static void dJointSetUniversalAxis2(SWIGTYPE_p_dJointID arg0,
                                           float x,
                                           float y,
                                           float z)

dJointSetUniversalParam

public static void dJointSetUniversalParam(SWIGTYPE_p_dJointID arg0,
                                           int parameter,
                                           float value)

dJointAddUniversalTorques

public static void dJointAddUniversalTorques(SWIGTYPE_p_dJointID joint,
                                             float torque1,
                                             float torque2)

dJointSetFixed

public static void dJointSetFixed(SWIGTYPE_p_dJointID arg0)

dJointSetFixedParam

public static void dJointSetFixedParam(SWIGTYPE_p_dJointID arg0,
                                       int parameter,
                                       float value)

dJointGetFixedParam

public static float dJointGetFixedParam(SWIGTYPE_p_dJointID arg0,
                                        int parameter)

dJointSetAMotorNumAxes

public static void dJointSetAMotorNumAxes(SWIGTYPE_p_dJointID arg0,
                                          int num)

dJointSetAMotorAxis

public static void dJointSetAMotorAxis(SWIGTYPE_p_dJointID arg0,
                                       int anum,
                                       int rel,
                                       float x,
                                       float y,
                                       float z)

dJointSetAMotorAngle

public static void dJointSetAMotorAngle(SWIGTYPE_p_dJointID arg0,
                                        int anum,
                                        float angle)

dJointSetAMotorParam

public static void dJointSetAMotorParam(SWIGTYPE_p_dJointID arg0,
                                        int parameter,
                                        float value)

dJointSetAMotorMode

public static void dJointSetAMotorMode(SWIGTYPE_p_dJointID arg0,
                                       int mode)

dJointAddAMotorTorques

public static void dJointAddAMotorTorques(SWIGTYPE_p_dJointID arg0,
                                          float torque1,
                                          float torque2,
                                          float torque3)

dJointGetBallAnchor

public static void dJointGetBallAnchor(SWIGTYPE_p_dJointID arg0,
                                       SWIGTYPE_p_float result)

dJointGetBallAnchor2

public static void dJointGetBallAnchor2(SWIGTYPE_p_dJointID arg0,
                                        SWIGTYPE_p_float result)

dJointGetHingeAnchor

public static void dJointGetHingeAnchor(SWIGTYPE_p_dJointID arg0,
                                        SWIGTYPE_p_float result)

dJointGetHingeAnchor2

public static void dJointGetHingeAnchor2(SWIGTYPE_p_dJointID arg0,
                                         SWIGTYPE_p_float result)

dJointGetHingeAxis

public static void dJointGetHingeAxis(SWIGTYPE_p_dJointID arg0,
                                      SWIGTYPE_p_float result)

dJointGetHingeParam

public static float dJointGetHingeParam(SWIGTYPE_p_dJointID arg0,
                                        int parameter)

dJointGetHingeAngle

public static float dJointGetHingeAngle(SWIGTYPE_p_dJointID arg0)

dJointGetHingeAngleRate

public static float dJointGetHingeAngleRate(SWIGTYPE_p_dJointID arg0)

dJointGetSliderPosition

public static float dJointGetSliderPosition(SWIGTYPE_p_dJointID arg0)

dJointGetSliderPositionRate

public static float dJointGetSliderPositionRate(SWIGTYPE_p_dJointID arg0)

dJointGetSliderAxis

public static void dJointGetSliderAxis(SWIGTYPE_p_dJointID arg0,
                                       SWIGTYPE_p_float result)

dJointGetSliderParam

public static float dJointGetSliderParam(SWIGTYPE_p_dJointID arg0,
                                         int parameter)

dJointGetHinge2Anchor

public static void dJointGetHinge2Anchor(SWIGTYPE_p_dJointID arg0,
                                         SWIGTYPE_p_float result)

dJointGetHinge2Anchor2

public static void dJointGetHinge2Anchor2(SWIGTYPE_p_dJointID arg0,
                                          SWIGTYPE_p_float result)

dJointGetHinge2Axis1

public static void dJointGetHinge2Axis1(SWIGTYPE_p_dJointID arg0,
                                        SWIGTYPE_p_float result)

dJointGetHinge2Axis2

public static void dJointGetHinge2Axis2(SWIGTYPE_p_dJointID arg0,
                                        SWIGTYPE_p_float result)

dJointGetHinge2Param

public static float dJointGetHinge2Param(SWIGTYPE_p_dJointID arg0,
                                         int parameter)

dJointGetHinge2Angle1

public static float dJointGetHinge2Angle1(SWIGTYPE_p_dJointID arg0)

dJointGetHinge2Angle1Rate

public static float dJointGetHinge2Angle1Rate(SWIGTYPE_p_dJointID arg0)

dJointGetHinge2Angle2Rate

public static float dJointGetHinge2Angle2Rate(SWIGTYPE_p_dJointID arg0)

dJointGetUniversalAnchor

public static void dJointGetUniversalAnchor(SWIGTYPE_p_dJointID arg0,
                                            SWIGTYPE_p_float result)

dJointGetUniversalAnchor2

public static void dJointGetUniversalAnchor2(SWIGTYPE_p_dJointID arg0,
                                             SWIGTYPE_p_float result)

dJointGetUniversalAxis1

public static void dJointGetUniversalAxis1(SWIGTYPE_p_dJointID arg0,
                                           SWIGTYPE_p_float result)

dJointGetUniversalAxis2

public static void dJointGetUniversalAxis2(SWIGTYPE_p_dJointID arg0,
                                           SWIGTYPE_p_float result)

dJointGetUniversalParam

public static float dJointGetUniversalParam(SWIGTYPE_p_dJointID arg0,
                                            int parameter)

dJointGetUniversalAngle1

public static float dJointGetUniversalAngle1(SWIGTYPE_p_dJointID arg0)

dJointGetUniversalAngle2

public static float dJointGetUniversalAngle2(SWIGTYPE_p_dJointID arg0)

dJointGetUniversalAngle1Rate

public static float dJointGetUniversalAngle1Rate(SWIGTYPE_p_dJointID arg0)

dJointGetUniversalAngle2Rate

public static float dJointGetUniversalAngle2Rate(SWIGTYPE_p_dJointID arg0)

dJointGetAMotorNumAxes

public static int dJointGetAMotorNumAxes(SWIGTYPE_p_dJointID arg0)

dJointGetAMotorAxis

public static void dJointGetAMotorAxis(SWIGTYPE_p_dJointID arg0,
                                       int anum,
                                       SWIGTYPE_p_float result)

dJointGetAMotorAxisRel

public static int dJointGetAMotorAxisRel(SWIGTYPE_p_dJointID arg0,
                                         int anum)

dJointGetAMotorAngle

public static float dJointGetAMotorAngle(SWIGTYPE_p_dJointID arg0,
                                         int anum)

dJointGetAMotorAngleRate

public static float dJointGetAMotorAngleRate(SWIGTYPE_p_dJointID arg0,
                                             int anum)

dJointGetAMotorParam

public static float dJointGetAMotorParam(SWIGTYPE_p_dJointID arg0,
                                         int parameter)

dJointGetAMotorMode

public static int dJointGetAMotorMode(SWIGTYPE_p_dJointID arg0)

dAreConnected

public static int dAreConnected(SWIGTYPE_p_dBodyID arg0,
                                SWIGTYPE_p_dBodyID arg1)

dAreConnectedExcluding

public static int dAreConnectedExcluding(SWIGTYPE_p_dBodyID arg0,
                                         SWIGTYPE_p_dBodyID arg1,
                                         int joint_type)

dRandSetSeed

public static void dRandSetSeed(int seed)

dRSetIdentity

public static void dRSetIdentity(SWIGTYPE_p_float R)

dRFromAxisAndAngle

public static void dRFromAxisAndAngle(SWIGTYPE_p_float R,
                                      float ax,
                                      float ay,
                                      float az,
                                      float angle)

dRFromEulerAngles

public static void dRFromEulerAngles(SWIGTYPE_p_float R,
                                     float phi,
                                     float theta,
                                     float psi)

dRFrom2Axes

public static void dRFrom2Axes(SWIGTYPE_p_float R,
                               float ax,
                               float ay,
                               float az,
                               float bx,
                               float by,
                               float bz)

dRFromZAxis

public static void dRFromZAxis(SWIGTYPE_p_float R,
                               float ax,
                               float ay,
                               float az)

dQSetIdentity

public static void dQSetIdentity(SWIGTYPE_p_float q)

dQFromAxisAndAngle

public static void dQFromAxisAndAngle(SWIGTYPE_p_float q,
                                      float ax,
                                      float ay,
                                      float az,
                                      float angle)

dQMultiply0

public static void dQMultiply0(SWIGTYPE_p_float qa,
                               SWIGTYPE_p_float qb,
                               SWIGTYPE_p_float qc)

dQMultiply1

public static void dQMultiply1(SWIGTYPE_p_float qa,
                               SWIGTYPE_p_float qb,
                               SWIGTYPE_p_float qc)

dQMultiply2

public static void dQMultiply2(SWIGTYPE_p_float qa,
                               SWIGTYPE_p_float qb,
                               SWIGTYPE_p_float qc)

dQMultiply3

public static void dQMultiply3(SWIGTYPE_p_float qa,
                               SWIGTYPE_p_float qb,
                               SWIGTYPE_p_float qc)

dQtoR

public static void dQtoR(SWIGTYPE_p_float q,
                         SWIGTYPE_p_float R)

dRtoQ

public static void dRtoQ(SWIGTYPE_p_float R,
                         SWIGTYPE_p_float q)

dWtoDQ

public static void dWtoDQ(SWIGTYPE_p_float w,
                          SWIGTYPE_p_float q,
                          SWIGTYPE_p_float dq)

dCreateCylinder

public static SWIGTYPE_p_dGeomID dCreateCylinder(SWIGTYPE_p_dSpaceID space,
                                                 float r,
                                                 float lz)

dGeomCylinderSetParams

public static void dGeomCylinderSetParams(SWIGTYPE_p_dGeomID g,
                                          float radius,
                                          float length)

dGeomCylinderGetParams

public static void dGeomCylinderGetParams(SWIGTYPE_p_dGeomID g,
                                          SWIGTYPE_p_float radius,
                                          SWIGTYPE_p_float length)