JV-ODE Function Reference

Official ODE Functions

World Functions Space Functions Rigid Body Functions Geom Functions Joint Functions Mass Functions Collision Functions

External ODE User Library Functions

JV-ODE Constants

Unique JV-ODE Functions

Rigid Body Functions Geom Functions Joint Functions Mass Functions Collision Functions Internal Collision Functions Misc Functions

JV-ODE Vector Functions

World Functions Space Functions Rigid Body Functions Geom Functions Joint Functions Mass Functions Collision Functions

Official ODE Functions The functions listed in this section are covered in the official ODE documentation which can be found at the www.ode.org and ODE Wiki websites. The usage of these functions is identical in JV-ODE, however some of the functions listed here return vectors in the original ODE. The use of these vector functions differs slightly in JV-ODE and is explained further in the JV-ODE Vector Functions section of this document.

World Functions dInitODE() dInitODE2(initflags) dAllocateODEDataForThread(allocateflags) dCleanupODEAllDataForThread() dWorldCreate() dWorldDestroy(world) dWorldSetGravity(world,x#,y#,z#) dWorldGetGravity(world) - JV-ODE Vector Function dWorldSetERP(world,erp#) dWorldGetERP(world) dWorldSetCFM(world,cfm#) dWorldGetCFM(world) dWorldSetAutoDisableFlag(world,doautodisable) dWorldGetAutoDisableFlag(world) dWorldSetAutoDisableLinearThreshold(world,lthreshold#) dWorldGetAutoDisableLinearThreshold(world) dWorldSetAutoDisableAngularThreshold(world,athreshold#) dWorldGetAutoDisableAngularThreshold(world) dWorldSetAutoDisableSteps(world,steps) dWorldGetAutoDisableSteps(world) dWorldSetAutoDisableTime(world,time#) dWorldGetAutoDisableTime(world) dWorldImpulseToForce(world,stepsize#,ix#,iy#,iz#) - JV-ODE Vector Function dCloseODE() dWorldStep(world,stepsize#) dWorldQuickStep(world,stepsize#) dWorldSetQuickStepNumIterations(world,num) dWorldGetQuickStepNumIterations(world) dWorldSetContactMaxCorrectingVel(world,vel#) dWorldGetContactMaxCorrectingVel(world) dWorldSetContactSurfaceLayer(world,depth#) dWorldGetContactSurfaceLayer(world) dWorldStepFast1(world,stepsize#,maxiterations) dWorldSetAutoEnableDepthSF1(world,autoenabledepth) dWorldGetAutoEnableDepthSF1(world) dWorldSetQuickStepW(world,overrelaxation#) dWorldGetQuickStepW(world) dWorldGetLinearDamping(world) dWorldGetAngularDamping(world) dWorldSetLinearDamping(world,scale#) dWorldSetAngularDamping(world,scale#) dWorldSetDamping(world,linearscale#,angularscale#) dWorldGetLinearDampingThreshold(world) dWorldGetAngularDampingThreshold(world) dWorldSetLinearDampingThreshold(world,threshold#) dWorldSetAngularDampingThreshold(world,threshold#) dWorldGetMaxAngularSpeed(world) dWorldSetMaxAngularSpeed(world,maxspeed#) Space Functions dSimpleSpaceCreate(space) dHashSpaceCreate(space) dQuadTreeSpaceCreate(space,cx#,cy#,cz#,ex#,ey#,ez#,depth) dSpaceDestroy(space) dHashSpaceSetLevels(space,minlevel,maxlevel) dHashSpaceGetLevels(space) - JV-ODE Vector Function dSpaceSetCleanup(space,mode) dSpaceGetCleanup(space) dSpaceAdd(space,geom) dSpaceRemove(space,geom) dSpaceQuery(space,geom) dSpaceGetNumGeoms(space) dSpaceGetGeom(space,index) dSpaceSetSublevel(space,sublevel) dSpaceGetSublevel(space) dSpaceGetClass(space) dSweepAndPruneSpaceCreate(space,axisorder) Rigid Body Functions dBodyCreate(world) dBodyDestroy(body) dBodySetPosition(body,x#,y#,z#) dBodySetRotation(body,pitch#,yaw#,roll#) dBodySetQuaternion(body,qw#,qx#,qy#,qz#) dBodySetLinearVel(body,x#,y#,z#) dBodySetAngularVel(body,x#,y#,z#) dBodyGetPosition(body) - JV-ODE Vector Function dBodyGetRotation(body) - JV-ODE Vector Function dBodyGetQuaternion(body) - JV-ODE Vector Function dBodyGetLinearVel(body) - JV-ODE Vector Function dBodyGetAngularVel(body) - JV-ODE Vector Function dBodySetMass(body,mass) dBodyGetMass(body) - Not implemented - Unique JV-ODE Function alternative dBodyAddForce(body,fx#,fy#,fz#) dBodyAddTorque(body,fx#,fy#,fz#) dBodyAddRelForce(body,fx#,fy#,fz#) dBodyAddRelTorque(body,fx#,fy#,fz#) dBodyAddForceAtPos(body,fx#,fy#,fz#,px#,py#,pz#) dBodyAddForceAtRelPos(body,fx#,fy#,fz#,px#,py#,pz#) dBodyAddRelForceAtPos(body,fx#,fy#,fz#,px#,py#,pz#) dBodyAddRelForceAtRelPos(body,fx#,fy#,fz#,px#,py#,pz#) dBodyGetForce(body) - JV-ODE Vector Function dBodyGetTorque(body) - JV-ODE Vector Function dBodySetForce(body,x#,y#,z#) dBodySetTorque(body,x#,y#,z#) dBodyGetRelPointPos(body,px#,py#,pz#) - JV-ODE Vector Function dBodyGetRelPointVel(body,px#,py#,pz#) - JV-ODE Vector Function dBodyGetPointVel(body,px#,py#,pz#) - JV-ODE Vector Function dBodyGetPosRelPoint(body,px#,py#,pz#) - JV-ODE Vector Function dBodyVectorToWorld(body,px#,py#,pz#) - JV-ODE Vector Function dBodyVectorFromWorld(body,px#,py#,pz#) - JV-ODE Vector Function dBodyEnable(body) dBodyDisable(body) dBodyIsEnabled(body) dBodySetAutoDisableFlag(body,doautodisable) dBodyGetAutoDisableFlag(body) dBodySetAutoDisableLinearThreshold(body,lthreshold#) dBodyGetAutoDisableLinearThreshold(body) dBodySetAutoDisableAngularThreshold(body,athreshold#) dBodyGetAutoDisableAngularThreshold(body) dBodySetAutoDisableSteps(body,steps) dBodyGetAutoDisableSteps(body) dBodySetAutoDisableTime(body,time#) dBodyGetAutoDisableTime(body) dBodySetAutoDisableAverageSamplesCount(body,averagesamplescount) dBodyGetAutoDisableAverageSamplesCount(body) dBodySetAutoDisableDefaults(body) dBodySetData(body,data) dBodyGetData(body) dBodySetFiniteRotationMode(body,mode) dBodyGetFiniteRotationMode(body) dBodySetFiniteRotationAxis(body,x#,y#,z#) dBodyGetFiniteRotationAxis(body) - JV-ODE Vector Function dBodyGetNumJoints(body) dBodyGetJoint(body,index) dBodyGetWorld(body) dBodySetGravityMode(body,mode) dBodyGetGravityMode(body) dBodyGetLinearDamping(body) dBodyGetAngularDamping(body) dBodySetLinearDamping(body,scale#) dBodySetAngularDamping(body,scale#) dBodySetDamping(body,linearscale#,angularscale#) dBodyGetLinearDampingThreshold(body) dBodyGetAngularDampingThreshold(body) dBodySetLinearDampingThreshold(body,threshold#) dBodySetAngularDampingThreshold(body,threshold#) dBodySetDampingDefaults(body) dBodyGetMaxAngularSpeed(body) dBodySetMaxAngularSpeed(body,maxspeed#) dBodyGetFirstGeom(body) dBodyGetNextGeom(geom) Geom Functions dGeomDestroy(geom) dGeomSetData(geom,data) dGeomGetData(geom) dGeomSetBody(geom,body) dGeomGetBody(geom) dGeomSetPosition(geom,x#,y#,z#) dGeomSetRotation(geom,pitch#,yaw#,roll#) dGeomSetQuaternion(geom,qw#,qx#,qy#,qz#) dGeomGetPosition(geom) - JV-ODE Vector Function dGeomGetRotation(geom) - JV-ODE Vector Function dGeomGetQuaternion(geom) - JV-ODE Vector Function dGeomGetAABB(geom) - Not implemented - Unique JV-ODE Function alternative dGeomIsSpace(geom) dGeomGetSpace(geom) dGeomGetClass(geom) dGeomSetCategoryBits(geom,bits) dGeomSetCollideBits(geom,bits) dGeomGetCategoryBits(geom) dGeomGetCollideBits(geom) dGeomEnable(geom) dGeomDisable(geom) dGeomIsEnabled(geom) dCreateSphere(space,radius#) dGeomSphereSetRadius(sphere,radius#) dGeomSphereGetRadius(sphere) dGeomSpherePointDepth(sphere,x#,y#,z#) dCreateBox(space,lx#,ly#,lz#) dGeomBoxSetLengths(box,lx#,ly#,lz#) dGeomBoxGetLengths(box) - JV-ODE Vector Function dGeomBoxPointDepth(box,x#,y#,z#) dCreatePlane(space,a#,b#,c#,d#) dGeomPlaneSetParams(plane,a#,b#,c#,d#) dGeomPlaneGetParams(plane) - JV-ODE Vector Function dGeomPlanePointDepth(plane,x#,y#,z#) dCreateCCylinder(space,radius#,length#) dGeomCCylinderSetParams(ccylinder,radius#,length#) dGeomCCylinderGetParams(ccylinder) - JV-ODE Vector Function dGeomCCylinderPointDepth(plane,x#,y#,z#) dCreateRay(space,length#) dGeomRaySetLength(ray,length#) dGeomRayGetLength(ray) dGeomRaySet(ray,px#,py#,pz#,dx#,dy#,dz#) dGeomRayGet(ray) - Not implemented - Unique JV-ODE Function alternative dGeomTriMeshDataCreate() dGeomTriMeshDataDestroy(trimeshdata) dGeomTriMeshDataBuildSingle(trimeshdata,vertices*,vtxstride,vtxcount,indices*,idxcount,tristride) dGeomTriMeshDataBuildSingle1(trimeshdata,vertices*,vtxstride,vtxcount,indices*,idxcount,tristride,normals*) dGeomTriMeshDataBuildSimple(trimeshdata,vertices*,vtxcount,indices*,idxcount) dCreateTriMesh(space,trimeshdata) dCreateGeomTransform(space) dGeomTransformSetGeom(geoma,geomb) dGeomTransformGetGeom(geom) dGeomTransformSetCleanup(geom,mode) - Note: Mode 1 is no longer supported dGeomTransformGetCleanup(geom) - Note: Mode 1 is no longer supported dGeomTransformSetInfo(geom,mode) dGeomTransformGetInfo(geom) dGeomSetOffsetPosition(geom,x#,y#,z#) dGeomSetOffsetRotation(geom,pitch#,yaw#,roll#) dGeomSetOffsetQuaternion(geom,qw#,qx#,qy#,qz#) dGeomSetOffsetWorldPosition(geom,x#,y#,z#) dGeomSetOffsetWorldRotation(geom,pitch#,yaw#,roll#) dGeomSetOffsetWorldQuaternion(geom,qw#,qx#,qy#,qz#) dGeomClearOffset(geom) dGeomIsOffset(geom) dGeomGetOffsetPosition(geom) - JV-ODE Vector Function dGeomGetOffsetRotation(geom) - JV-ODE Vector Function dGeomGetOffsetQuaternion(geom) - JV-ODE Vector Function dCreateCapsule(space,radius#,length#) dGeomCapsuleSetParams(capsule,radius#,length#) dGeomCapsuleGetParams(capsule) - JV-ODE Vector Function dGeomCapsulePointDepth(capsule,x#,y#,z#) dCreateHeightfield(space,heightdata,bplaceable) dGeomHeightfieldDataCreate() dGeomHeightfieldDataDestroy(heightdata) dGeomHeightfieldDataBuildSingle(heightdata,pheightdata*,bcopyheightdata,width#,depth#,...         ...widthsamples,depthsamples,scale#,offset#,thickness#,bwrap) dGeomHeightfieldDataSetBounds(heightdata,minheight#,maxheight#) dGeomHeightfieldSetHeightfieldData(geom,heightdata) dGeomHeightfieldGetHeightfieldData(geom) dCreateConvex(space,planes*,planecount,points*,pointcount,polygons*) dGeomSetConvex(geom,planes*,planecount,points*,pointcount,polygons*) Joint Functions dJointCreateBall(world,group) dJointSetBallAnchor(joint,x#,y#,z#) dJointSetBallAnchor2(joint,x#,y#,z#) dJointSetBallParam(joint,param,value#) dJointGetBallAnchor(joint) - JV-ODE Vector Function dJointGetBallAnchor2(joint) - JV-ODE Vector Function dJointGetBallParam(joint,param) dJointCreateHinge(world,group) dJointSetHingeAnchor(joint,x#,y#,z#) dJointSetHingeAnchorDelta(joint,x#,y#,z#,ax#,ay#,az#) dJointSetHingeAxis(joint,x#,y#,z#) dJointSetHingeAxisOffset(joint,x#,y#,z#,angle#) dJointSetHingeParam(joint,param,value#) dJointAddHingeTorque(joint,torque#) dJointGetHingeAnchor(joint) - JV-ODE Vector Function dJointGetHingeAnchor2(joint) - JV-ODE Vector Function dJointGetHingeAxis(joint) - JV-ODE Vector Function dJointGetHingeAngle(joint) dJointGetHingeAngleRate(joint) dJointGetHingeParam(joint,param) dJointCreateSlider(world,group) dJointSetSliderAxis(joint,x#,y#,z#) dJointSetSliderAxisDelta(joint,x#,y#,z#,ax#,ay#,az#) dJointSetSliderParam(joint,param,value#) dJointAddSliderForce(joint,force#) dJointGetSliderAxis(joint) - JV-ODE Vector Function dJointGetSliderPosition(joint) dJointGetSliderPositionRate(joint) dJointGetSliderParam(joint,param) dJointCreateUniversal(world,group) dJointSetUniversalAnchor(joint,x#,y#,z#) dJointSetUniversalAxis1(joint,x#,y#,z#) dJointSetUniversalAxis2(joint,x#,y#,z#) dJointSetUniversalParam(joint,param,value#) dJointAddUniversalTorques(joint,torque1#,torque2#) dJointGetUniversalAnchor(joint) - JV-ODE Vector Function dJointGetUniversalAnchor2(joint) - JV-ODE Vector Function dJointGetUniversalAxis1(joint) - JV-ODE Vector Function dJointGetUniversalAxis2(joint) - JV-ODE Vector Function dJointGetUniversalAngles(joint) - JV-ODE Vector Function dJointGetUniversalAngle1(joint) dJointGetUniversalAngle2(joint) dJointGetUniversalAngle1Rate(joint) dJointGetUniversalAngle2Rate(joint) dJointGetUniversalParam(joint,param) dJointCreateHinge2(world,group) dJointSetHinge2Anchor(joint,x#,y#,z#) dJointSetHinge2Axis1(joint,x#,y#,z#) dJointSetHinge2Axis2(joint,x#,y#,z#) dJointSetHinge2Param(joint,param,value#) dJointAddHinge2Torques(joint,torque1#,torque2#) dJointGetHinge2Anchor(joint) - JV-ODE Vector Function dJointGetHinge2Anchor2(joint) - JV-ODE Vector Function dJointGetHinge2Axis1(joint) - JV-ODE Vector Function dJointGetHinge2Axis2(joint) - JV-ODE Vector Function dJointGetHinge2Angle1(joint) dJointGetHinge2Angle1Rate(joint) dJointGetHinge2Angle2Rate(joint) dJointGetHinge2Param(joint,param) dJointCreateFixed(world,group) dJointSetFixed(joint) dJointSetFixedParam(joint,param,value#) dJointGetFixedParam(joint,param) dJointCreateAMotor(world,group) dJointSetAMotorMode(joint,mode) dJointSetAMotorNumAxes(joint,num) dJointSetAMotorAxis(joint,num,rel,x#,y#,z#) dJointSetAMotorAngle(joint,num,angle#) dJointSetAMotorParam(joint,param,value#) dJointAddAMotorTorques(joint,torque0#,torque1#,torque2#) dJointGetAMotorMode(joint) dJointGetAMotorNumAxes(joint) dJointGetAMotorAxis(joint,num) - JV-ODE Vector Function dJointGetAMotorAxisRel(joint,num) dJointGetAMotorAngle(joint,num) dJointGetAMotorAngleRate(joint,num) dJointGetAMotorParam(joint,param) dJointDestroy(joint) dJointGroupCreate(maxsize) dJointGroupDestroy(group) dJointGroupEmpty(group) dJointAttach(joint,body1,body2) dJointSetData(joint,data) dJointGetData(joint) dJointGetType(joint) dJointGetBody(joint,index) dJointSetFeedback(joint,feedback) dJointGetFeedback(joint) - Not implemented - Unique JV-ODE Function alternative dAreConnected(body1,body2) dAreConnectedExcluding(body1,body2,jointtype) dConnectingJoint(body1,body2) dJointCreateLMotor(world,group) dJointSetLMotorNumAxes(joint,num) dJointSetLMotorAxis(joint,anum,rel,x#,y#,z#) dJointSetLMotorParam(joint,parameter,value#) dJointGetLMotorNumAxes(joint) dJointGetLMotorAxis(joint,anum) - JV-ODE Vector Function dJointGetLMotorParam(joint,parameter) dJointCreatePlane2D(world,group) dJointSetPlane2DXParam(joint,parameter,value#) dJointSetPlane2DYParam(joint,parameter,value#) dJointSetPlane2DAngleParam(joint,parameter,value#) dJointCreatePR(world,group) dJointSetPRAnchor(joint,x#,y#,z#) dJointSetPRAxis1(joint,x#,y#,z#) dJointSetPRAxis2(joint,x#,y#,z#) dJointSetPRParam(joint,parameter,value#) dJointAddPRTorque(joint,torque#) dJointGetPRAnchor(joint) - JV-ODE Vector Function dJointGetPRPosition(joint) dJointGetPRPositionRate(joint) dJointGetPRAxis1(joint) - JV-ODE Vector Function dJointGetPRAxis2(joint) - JV-ODE Vector Function dJointGetPRParam(joint,parameter) dJointGetNumBodies(joint) dJointCreatePU(world,group) dJointSetPUAnchor(joint,x#,y#,z#) dJointSetPUAnchorDelta(joint,x#,y#,z#,dx#,dy#,dz#) dJointSetPUAxis1(joint,x#,y#,z#) dJointSetPUAxis2(joint,x#,y#,z#) dJointSetPUAxis3(joint,x#,y#,z#) dJointSetPUAxisP(joint,x#,y#,z#) dJointSetPUParam(joint,parameter,value#) dJointGetPUPosition(joint) dJointGetPUPositionRate(joint) dJointGetPUAnchor(joint) - JV-ODE Vector Function dJointGetPUAxis1(joint) - JV-ODE Vector Function dJointGetPUAxis2(joint) - JV-ODE Vector Function dJointGetPUAxis3(joint) - JV-ODE Vector Function dJointGetPUAxisP(joint) - JV-ODE Vector Function dJointGetPUAngles(joint) - JV-ODE Vector Function dJointGetPUAngle1(joint) dJointGetPUAngle2(joint) dJointGetPUAngle1Rate(joint) dJointGetPUAngle2Rate(joint) dJointGetPUParam(joint,parameter) dJointCreatePiston(world,group) dJointSetPistonAnchor(joint,x#,y#,z#) dJointSetPistonAnchorOffset(joint,x#,y#,z#,dx#,dy#,dz#) dJointSetPistonAxis(joint,x#,y#,z#) dJointSetPistonParam(joint,parameter,value#) dJointGetPistonAnchor(joint) - JV-ODE Vector Function dJointGetPistonAnchor2(joint) - JV-ODE Vector Function dJointGetPistonAxis(joint) - JV-ODE Vector Function dJointGetPistonPosition(joint) dJointGetPistonPositionRate(joint) dJointGetPistonAngle(joint) dJointGetPistonAngleRate(joint) dJointAddPistonForce(joint,force#) dJointGetPistonParam(joint,parameter) Mass Functions dMassSetZero(mass) dMassSetParameters(mass,themass#,cgx#,cgy#,cgz#,I11#,I22#,I33#,I12#,I13#,I23#) dMassSetSphere(mass,density#,radius#) dMassSetSphereTotal(mass,totalmass#,radius#) dMassSetCappedCylinder(mass,density#,direction,radius#,length#) dMassSetCappedCylinderTotal(mass,totalmass#,direction,radius#,length#) dMassSetCylinder(mass,density#,direction,radius#,length#) dMassSetCylinderTotal(mass,totalmass#,direction,radius#,length#) dMassSetBox(mass,density#,lx#,ly#,lz#) dMassSetBoxTotal(mass,totalmass#,lx#,ly#,lz#) dMassSetTriMesh(mass,density#,geom) dMassSetTriMeshTotal(mass,totalmass#,geom) dMassAdjust(mass,newmass#) dMassTranslate(mass,x#,y#,z#) dMassRotate(mass) - Not implemented - Unique JV-ODE Function alternative dMassAdd(massa,massb) dMassSetCapsule(mass,density#,direction,radius#,length#) dMassSetCapsuleTotal(mass,totalmass#,direction,radius#,length#) Collision Functions dSpaceCollide() - Not implemented - Unique JV-ODE Function alternative dSpaceCollide2() - Not implemented - Unique JV-ODE Function alternative

External ODE User Library Functions The functions listed in this section are not part of the official ODE library and are not currently documented. Care should be taken when using these functions as they may have reliability issues. For more detailed information about the functions listed here, click the desired function name below.

dCreateCylinder(space,radius#,length#) dGeomCylinderSetParams(cylinder,radius#,length#) dGeomCylinderGetParams(cylinder) - JV-ODE Vector Function

JV-ODE Constants The following constants are defined in JV-ODE.

Geometry Classes dSphereClass dBoxClass dCapsuleClass dCylinderClass dPlaneClass dRayClass dGeomTransformClass dTriMeshClass dFirstSpaceClass dSimpleSpaceClass dHashSpaceClass dQuadTreeSpaceClass dLastSpaceClass dFirstUserClass dLastUserClass dGeomNumClasses Joint Types dJointTypeNone dJointTypeBall dJointTypeHinge dJointTypeSlider dJointTypeContact dJointTypeUniversal dJointTypeHinge2 dJointTypeFixed dJointTypeNull dJointTypeAMotor dJointTypeLMotor dJointTypePlane2D dJointTypePR dJointTypePU dJointTypePiston Motor Modes dAMotorUser dAMotorEuler Joint Parameters dParamLoStop dParamHiStop dParamVel dParamFMax dParamFudgeFactor dParamBounce dParamCFM dParamStopERP dParamStopCFM dParamSuspensionERP dParamSuspensionCFM dParamLoStop2 dParamHiStop2 dParamVel2 dParamFMax2 dParamFudgeFactor2 dParamBounce2 dParamCFM2 dParamStopERP2 dParamStopCFM2 dParamSuspensionERP2 dParamSuspensionCFM2 dParamLoStop3 dParamHiStop3 dParamVel3 dParamFMax3 dParamFudgeFactor3 dParamBounce3 dParamCFM3 dParamStopERP3 dParamStopCFM3 dParamSuspensionERP3 dParamSuspensionCFM3 Contact Modes dContactMu2 dContactFDir1 dContactBounce dContactSoftERP dContactSoftCFM dContactMotion1 dContactMotion2 dContactMotionN dContactSlip1 dContactSlip2 dContactApprox0 dContactApprox1_1 dContactApprox1_2 dContactApprox1 Misc dInfinity dMaxUserClasses

Unique JV-ODE Functions The functions listed in this section are unique to JV-ODE and have been added to give the user more control over the physics simulation. Some of the functions here provide an alternative to the official ODE functions where it has not been possible to implement the original functions directly in JV-ODE. For more detailed information about the functions listed here, click the desired function name below.

Rigid Body Functions dBodySetAxisAngle(body,angle#,rx#,ry#,rz#) dBodyGetPositionX(body) dBodyGetPositionY(body) dBodyGetPositionZ(body) dBodyGetAxisAngle(body) - JV-ODE Vector Function dBodyGetPitch(body) dBodyGetYaw(body) dBodyGetRoll(body) dBodyGetLinearVelX(body) dBodyGetLinearVelY(body) dBodyGetLinearVelZ(body) dBodyGetAngularVelX(body) dBodyGetAngularVelY(body) dBodyGetAngularVelZ(body) dBodyGetMass(body) Geom Functions dGeomSetAxisAngle(geom,angle#,rx#,ry#,rz#) dGeomGetPositionX(geom) dGeomGetPositionY(geom) dGeomGetPositionZ(geom) dGeomGetAxisAngle(geom) - JV-ODE Vector Function dGeomGetPitch(geom) dGeomGetYaw(geom) dGeomGetRoll(geom) dGeomGetAABBMin(geom) - JV-ODE Vector Function dGeomGetAABBMax(geom) - JV-ODE Vector Function dGeomRayGetStart(ray) - JV-ODE Vector Function dGeomRayGetDir(ray) - JV-ODE Vector Function dGeomSetOffsetAxisAngle(geom,angle#,rx#,ry#,rz#) dGeomSetOffsetWorldAxisAngle(geom,angle#,rx#,ry#,rz#) dGeomGetOffsetAxisAngle(geom) - JV-ODE Vector Function Joint Functions dJointFeedbackEnable(joint) dJointFeedbackDisable(joint) dJointFeedbackIsEnabled(joint) dJointGetFeedbackForce1(joint) - JV-ODE Vector Function dJointGetFeedbackTorque1(joint) - JV-ODE Vector Function dJointGetFeedbackForce2(joint) - JV-ODE Vector Function dJointGetFeedbackTorque2(joint) - JV-ODE Vector Function Mass Functions dMassCreate() dMassDestroy(mass) dMassRotate(mass,pitch#,yaw#,roll#) dMassRotateQuaternion(mass,qw#,qx#,qy#,qz#) dMassRotateAxisAngle(mass,angle#,rx#,ry#,rz#) dMassCenter(mass) - JV-ODE Vector Function Collision Functions dContactSetMaxContacts(max) dContactGetMaxContacts() dContactSetMode(mode) dContactGetMode() dContactSetMu(mu#) dContactGetMu() dContactSetMu2(mu#) dContactGetMu2() dContactSetFDir1(fdir1x#,fdir1y#,fdir1z#) dContactGetFDir1() - JV-ODE Vector Function dContactSetBounce(bounce#) dContactGetBounce() dContactSetBounceVel(vel#) dContactGetBounceVel() dContactSetSoftERP(erp#) dContactGetSoftERP() dContactSetSoftCFM(cfm#) dContactGetSoftCFM() dContactSetMotion1(motion#) dContactGetMotion1() dContactSetMotion2(motion#) dContactGetMotion2() dContactSetSlip1(slip#) dContactGetSlip1() dContactSetSlip2(slip#) dContactGetSlip2() dGeomContactSetMode(geom,mode) dGeomContactGetMode(geom) dGeomContactSetMu(geom,mu#) dGeomContactGetMu(geom) dGeomContactSetMu2(geom,mu#) dGeomContactGetMu2(geom) dGeomContactSetFDir1(geom,fdir1x#,fdir1y#,fdir1z#) dGeomContactGetFDir1(geom) - JV-ODE Vector Function dGeomContactSetBounce(geom,bounce#) dGeomContactGetBounce(geom) dGeomContactSetBounceVel(geom,vel#) dGeomContactGetBounceVel(geom) dGeomContactSetSoftERP(geom,erp#) dGeomContactGetSoftERP(geom) dGeomContactSetSoftCFM(geom,cfm#) dGeomContactGetSoftCFM(geom) dGeomContactSetMotion1(geom,motion#) dGeomContactGetMotion1(geom) dGeomContactSetMotion2(geom,motion#) dGeomContactGetMotion2(geom) dGeomContactSetSlip1(geom,slip#) dGeomContactGetSlip1(geom) dGeomContactSetSlip2(geom,slip#) dGeomContactGetSlip2(geom) dGeomContactSetDefaults(geom) dGeom1CountCollisions(geom) dGeom1CollisionGeom(geom,index) dGeom1CollisionX(geom,index) dGeom1CollisionY(geom,index) dGeom1CollisionZ(geom,index) dGeom1CollisionNX(geom,index) dGeom1CollisionNY(geom,index) dGeom1CollisionNZ(geom,index) dGeom1CollisionDepth(geom,index) dGeom2CountCollisions(geom) dGeom2CollisionGeom(geom,index) dGeom2CollisionX(geom,index) dGeom2CollisionY(geom,index) dGeom2CollisionZ(geom,index) dGeom2CollisionNX(geom,index) dGeom2CollisionNY(geom,index) dGeom2CollisionNZ(geom,index) dGeom2CollisionDepth(geom,index) dSpaceCollide(space,world,group) dSpaceCollide2(geom1,geom2,world,group) Internal Collision Functions dSetInternalSpaceCollideMode(mode) dGetInternalSpaceCollideMode() dSetInternalContactSurfaceMode(mode) dGetInternalContactSurfaceMode() Misc Functions dVectorW() dVectorX() dVectorY() dVectorZ() dGetVersion() dRegisterODE(key1,key2,key3,key4)

JV-ODE Vector Functions The functions listed in this section are used where ODE normally returns a vector. A vector can be thought of as an array of variables, which are returned when calling certain ODE functions. When an ODE function is called and returns a vector, JV-ODE fills the vector results into 2 to 4 JV-ODE vector functions. The JV-ODE vector functions can then be called to return the results of the ODE function. For more information about the functions listed here, click the desired function name below.

World Functions dWorldGetGravity(world) dWorldImpulseToForce(world,stepsize#,ix#,iy#,iz#) Space Functions dHashSpaceGetLevels(space) Rigid Body Functions dBodyGetPosition(body) dBodyGetRotation(body) dBodyGetQuaternion(body) dBodyGetAxisAngle(body) dBodyGetLinearVel(body) dBodyGetAngularVel(body) dBodyGetForce(body) dBodyGetTorque(body) dBodyGetRelPointPos(body,px#,py#,pz#) dBodyGetRelPointVel(body,px#,py#,pz#) dBodyGetPointVel(body,px#,py#,pz#) dBodyGetPosRelPoint(body,px#,py#,pz#) dBodyVectorToWorld(body,px#,py#,pz#) dBodyVectorFromWorld(body,px#,py#,pz#) dBodyGetFiniteRotationAxis(body) Geom Functions dGeomGetPosition(geom) dGeomGetRotation(geom) dGeomGetQuaternion(geom) dGeomGetAxisAngle(geom) dGeomGetAABBMin(geom) dGeomGetAABBMax(geom) dGeomBoxGetLengths(box) dGeomPlaneGetParams(plane) dGeomCylinderGetParams(cylinder) dGeomCCylinderGetParams(ccylinder) dGeomRayGetStart(ray) dGeomRayGetDir(ray) dGeomGetOffsetPosition(geom) dGeomGetOffsetRotation(geom) dGeomGetOffsetQuaternion(geom) dGeomCapsuleGetParams(capsule) dGeomGetOffsetAxisAngle(geom) Joint Functions dJointGetFeedbackForce1(joint) dJointGetFeedbackTorque1(joint) dJointGetFeedbackForce2(joint) dJointGetFeedbackTorque2(joint) dJointGetBallAnchor(joint) dJointGetBallAnchor2(joint) dJointGetHingeAnchor(joint) dJointGetHingeAnchor2(joint) dJointGetHingeAxis(joint) dJointGetSliderAxis(joint) dJointGetUniversalAnchor(joint) dJointGetUniversalAnchor2(joint) dJointGetUniversalAxis1(joint) dJointGetUniversalAxis2(joint) dJointGetUniversalAngles(joint) dJointGetHinge2Anchor(joint) dJointGetHinge2Anchor2(joint) dJointGetHinge2Axis1(joint) dJointGetHinge2Axis2(joint) dJointGetAMotorAxis(joint,num) dJointGetLMotorAxis(joint,anum) dJointGetPRAnchor(joint) dJointGetPRAxis1(joint) dJointGetPRAxis2(joint) dJointGetPUAnchor(joint) dJointGetPUAxis1(joint) dJointGetPUAxis2(joint) dJointGetPUAxis3(joint) dJointGetPUAxisP(joint) dJointGetPUAngles(joint) dJointGetPistonAnchor(joint) dJointGetPistonAnchor2(joint) dJointGetPistonAxis(joint) Mass Functions dMassCenter(mass) Collision Functions dContactGetFDir1() dGeomContactGetFDir1(geom)

External ODE User Library Functions

Function dCreateCylinder(space,radius#,length#)

Parameters Space = Space ID (Integer) Radius = Cylinder Radius (Float) Length = Cylinder Length (Float)

Description Creates a flat ended cylinder geom of the specified dimensions in the specified space and returns its geom ID.

Returns Cylinder Geom ID (Integer)

Function dGeomCylinderSetParams(cylinder,radius#,length#)

Parameters Cylinder = Cylinder Geom ID (Integer) Radius = Cylinder Radius (Float) Length = Cylinder Length (Float)

Description Modifies the dimensions of an existing Cylinder geom.

Returns None

Function dGeomCylinderGetParams(cylinder) - JV-ODE Vector Function

Parameters Cylinder = Cylinder Geom ID (Integer)

Description Returns the current dimensions of an existing Cylinder geom.

Returns None - Vector result returned via JV-ODE Vector Functions

Unique JV-ODE Functions Rigid Body Functions

Function dBodySetAxisAngle(body,angle#,rx#,ry#,rz#)

Parameters Body = Body ID (Integer) Angle = Rotation Angle (Float) RX = Rotation Axis X (Float) RY = Rotation Axis Y (Float) RZ = Rotation Axis Z (Float)

Description Sets the rotation of the specified body using the Axis Angle rotation system.

Returns None

Function dBodyGetPositionX(body)

Parameters Body = Body ID (Integer)

Description Returns the current X coordinate of the specified body. This function provides an alternative to the original dBodyGetPosition(body) function of the ODE library which returns a vector result.

Returns X Position (Float)

Function dBodyGetPositionY(body)

Parameters Body = Body ID (Integer)

Description Returns the current Y coordinate of the specified body. This function provides an alternative to the original dBodyGetPosition(body) function of the ODE library which returns a vector result.

Returns Y Position (Float)

Function dBodyGetPositionZ(body)

Parameters Body = Body ID (Integer)

Description Returns the current Z coordinate of the specified body. This function provides an alternative to the original dBodyGetPosition(body) function of the ODE library which returns a vector result.

Returns Z Position (Float)

Function dBodyGetAxisAngle(body) - JV-ODE Vector Function

Parameters Body = Body ID (Integer)

Description Returns the current Axis Angle rotation of the specified body.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dBodyGetPitch(body)

Parameters Body = Body ID (Integer)

Description Returns the current pitch angle of the specified body.

Returns Pitch Angle (Float)

Function dBodyGetYaw(body)

Parameters Body = Body ID (Integer)

Description Returns the current yaw angle of the specified body.

Returns Yaw Angle (Float)

Function dBodyGetRoll(body)

Parameters Body = Body ID (Integer)

Description Returns the current roll angle of the specified body.

Returns Roll Angle (Float)

Function dBodyGetLinearVelX(body)

Parameters Body = Body ID (Integer)

Description Returns the current linear velocity X element of the specified body. This function provides an alternative to the original dBodyGetLinearVel(body) function of the ODE library which returns a vector result.

Returns Linear Velocity X (Float)

Function dBodyGetLinearVelY(body)

Parameters Body = Body ID (Integer)

Description Returns the current linear velocity Y element of the specified body. This function provides an alternative to the original dBodyGetLinearVel(body) function of the ODE library which returns a vector result.

Returns Linear Velocity Y (Float)

Function dBodyGetLinearVelZ(body)

Parameters Body = Body ID (Integer)

Description Returns the current linear velocity Z element of the specified body. This function provides an alternative to the original dBodyGetLinearVel(body) function of the ODE library which returns a vector result.

Returns Linear Velocity Z (Float)

Function dBodyGetAngularVelX(body)

Parameters Body = Body ID (Integer)

Description Returns the current angular velocity X element of the specified body. This function provides an alternative to the original dBodyGetAngularVel(body) function of the ODE library which returns a vector result.

Returns Angular Velocity X (Float)

Function dBodyGetAngularVelY(body)

Parameters Body = Body ID (Integer)

Description Returns the current angular velocity Y element of the specified body. This function provides an alternative to the original dBodyGetAngularVel(body) function of the ODE library which returns a vector result.

Returns Angular Velocity Y (Float)

Function dBodyGetAngularVelZ(body)

Parameters Body = Body ID (Integer)

Description Returns the current angular velocity Z element of the specified body. This function provides an alternative to the original dBodyGetAngularVel(body) function of the ODE library which returns a vector result.

Returns Angular Velocity Z (Float)

Function dBodyGetMass(body)

Parameters Body = Body ID (Integer)

Description Returns the current mass value of the specified body. This function replaces the dBodyGetMass(body) function described in the official ODE documentation.

Returns Mass (Float)

Geom Functions

Function dGeomSetAxisAngle(geom,angle#,rx#,ry#,rz#)

Parameters Geom = Geom ID (Integer) Angle = Rotation Angle (Float) RX = Rotation Axis X (Float) RY = Rotation Axis Y (Float) RZ = Rotation Axis Z (Float)

Description Sets the rotation of the specified geom using the Axis Angle rotation system.

Returns None

Function dGeomGetPositionX(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current X coordinate of the specified geom.

Returns X Position (Float)

Function dGeomGetPositionY(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current Y coordinate of the specified geom.

Returns Y Position (Float)

Function dGeomGetPositionZ(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current Z coordinate of the specified geom.

Returns Z Position (Float)

Function dGeomGetAxisAngle(geom) - JV-ODE Vector Function

Parameters Geom = Geom ID (Integer)

Description Returns the current Axis Angle rotation of the specified geom.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dGeomGetPitch(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current pitch angle of the specified geom.

Returns Pitch Angle (Float)

Function dGeomGetYaw(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current yaw angle of the specified geom.

Returns Yaw Angle (Float)

Function dGeomGetRoll(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current roll angle of the specified geom.

Returns Roll Angle (Float)

Function dGeomGetAABBMin(geom) - JV-ODE Vector Function

Parameters Geom = Geom ID (Integer)

Description Returns the minimum XYZ elements of an axis aligned bounding box that surrounds the specified geom. The function must be used together with the dGeomGetAABBMax(geom) function to return all elements of the bounding box. These two functions replace the dGeomGetAABB(geom) function described in the official ODE documentation.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dGeomGetAABBMax(geom) - JV-ODE Vector Function

Parameters Geom = Geom ID (Integer)

Description Returns the maximum XYZ elements of an axis aligned bounding box that surrounds the specified geom. The function must be used together with the dGeomGetAABBMin(geom) function to return all elements of the bounding box. These two functions replace the dGeomGetAABB(geom) function described in the official ODE documentation.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dGeomRayGetStart(ray) - JV-ODE Vector Function

Parameters Ray = Ray Geom ID (Integer)

Description Returns the XYZ starting position elements of the specified ray geom. The function should be used together with the dGeomRayGetDir(geom) function. These two functions replace the dGeomRayGet(geom) function described in the official ODE documentation.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dGeomRayGetDir(ray) - JV-ODE Vector Function

Parameters Ray = Ray Geom ID (Integer)

Description Returns the XYZ direction elements of the specified ray geom. The function should be used together with the dGeomRayGetStart(geom) function. These two functions replace the dGeomRayGet(geom) function described in the official ODE documentation.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dGeomSetOffsetAxisAngle(geom,angle#,rx#,ry#,rz#)

Parameters Geom = Geom ID (Integer) Angle = Rotation Angle (Float) RX = Rotation Axis X (Float) RY = Rotation Axis Y (Float) RZ = Rotation Axis Z (Float)

Description Sets the rotation of the specified offset geom using the Axis Angle rotation system.

Returns None

Function dGeomSetOffsetWorldAxisAngle(geom,angle#,rx#,ry#,rz#)

Parameters Geom = Geom ID (Integer) Angle = Rotation Angle (Float) RX = Rotation Axis X (Float) RY = Rotation Axis Y (Float) RZ = Rotation Axis Z (Float)

Description Sets the world rotation of the specified offset geom using the Axis Angle rotation system.

Returns None

Function dGeomGetOffsetAxisAngle(geom) - JV-ODE Vector Function

Parameters Geom = Geom ID (Integer)

Description Returns the current Axis Angle rotation of the specified offset geom.

Returns None - Vector result returned via JV-ODE Vector Functions

Joint Functions

Function dJointFeedbackEnable(joint)

Parameters Joint = Joint ID (Integer)

Description Enables force and torque vector feedback on the specified joint.

Returns None

Function dJointFeedbackDisable(joint)

Parameters Joint = Joint ID (Integer)

Description Disables force and torque vector feedback on the specified joint.

Returns None

Function dJointFeedbackIsEnabled(joint)

Parameters Joint = Joint ID (Integer)

Description Returns the current feedback status of the specified joint.

Returns Feedback Status (Integer): 0 = Disabled 1 = Enabled

Function dJointGetFeedbackForce1(joint) - JV-ODE Vector Function

Parameters Joint = Joint ID (Integer)

Description Returns the force 1 feedback vector of the specified joint. The function should be used together with the dJointGetFeedbackForce2(joint), dJointGetFeedbackTorque1(joint) and dJointGetFeedbackTorque2(joint) functions to retrieve all force and torque data. These four functions replace the dJointGetFeedback(joint) function described in the official ODE documentation.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dJointGetFeedbackTorque1(joint) - JV-ODE Vector Function

Parameters Joint = Joint ID (Integer)

Description Returns the torque 1 feedback vector of the specified joint. The function should be used together with the dJointGetFeedbackTorque2(joint), dJointGetFeedbackForce1(joint) and dJointGetFeedbackForce2(joint) functions to retrieve all force and torque data. These four functions replace the dJointGetFeedback(joint) function described in the official ODE documentation.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dJointGetFeedbackForce2(joint) - JV-ODE Vector Function

Parameters Joint = Joint ID (Integer)

Description Returns the force 2 feedback vector of the specified joint. The function should be used together with the dJointGetFeedbackForce1(joint), dJointGetFeedbackTorque1(joint) and dJointGetFeedbackTorque2(joint) functions to retrieve all force and torque data. These four functions replace the dJointGetFeedback(joint) function described in the official ODE documentation.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dJointGetFeedbackTorque2(joint) - JV-ODE Vector Function

Parameters Joint = Joint ID (Integer)

Description Returns the torque 2 feedback vector of the specified joint. The function should be used together with the dJointGetFeedbackTorque1(joint), dJointGetFeedbackForce1(joint) and dJointGetFeedbackForce2(joint) functions to retrieve all force and torque data. These four functions replace the dJointGetFeedback(joint) function described in the official ODE documentation.

Returns None - Vector result returned via JV-ODE Vector Functions

Mass Functions

Function dMassCreate()

Parameters None

Description Creates a mass structure for use with the ODE mass functions and returns its mass ID. You must create a mass structure before using any of the mass functions.

Returns Mass ID (Integer)

Function dMassDestroy(mass)

Parameters Mass = Mass ID (Integer)

Description Destroys a mass structure that has been created using the dMassCreate() function. Once the mass structure has been applied to the rigid body and you no longer need to access it, you can destroy it and free the memory it had previously occupied. The mass applied to the rigid body will still remain intact after destroying the mass structure used to create it.

Returns None

Function dMassRotate(mass,pitch#,yaw#,roll#)

Parameters Mass = Mass ID (Integer) Pitch = Pitch (Float) Yaw = Yaw (Float) Roll = Roll (Float)

Description Rotates the mass structure around the rigid body by the specified amount using Euler rotation. This function replaces the dMassRotate(mass) function described in the official ODE documentation.

Returns None

Function dMassRotateQuaternion(mass,qw#,qx#,qy#,qz#)

Parameters Mass = Mass ID (Integer) QW = Quaternion W (Float) QX = Quaternion X (Float) QY = Quaternion Y (Float) QZ = Quaternion Z (Float)

Description Rotates the mass structure around the rigid body by the specified amount using Quaternion rotation. This function replaces the dMassRotate(mass) function described in the official ODE documentation.

Returns None

Function dMassRotateAxisAngle(mass,angle#,rx#,ry#,rz#)

Parameters Mass = Mass ID (Integer) Angle = Rotation Angle (Float) RX = Rotation Axis X (Float) RY = Rotation Axis Y (Float) RZ = Rotation Axis Z (Float)

Description Rotates the mass structure around the rigid body by the specified amount using Axis Angle rotation. This function replaces the dMassRotate(mass) function described in the official ODE documentation.

Returns None

Function dMassCenter(mass) - JV-ODE Vector Function

Parameters Mass = Mass ID (Integer)

Description Returns the centre of gravity XYZ positions of the mass structure in the body frame.

Returns None - Vector result returned via JV-ODE Vector Functions

Collision Functions

Function dContactSetMaxContacts(max)

Parameters Max = Maximum Contacts (Integer) - Default: 128

Description Sets the maximum number of contacts processed when ODE is performing collision detection between two geoms. Any excess contacts will be ignored, thus speeding up the collision detection during each time step. However, setting the maximum contacts too low can result in inaccurate collision responses.

Returns None

Function dContactGetMaxContacts()

Parameters None

Description Returns the current maximum contacts value.

Returns Maximum Contacts (Integer)

Function dContactSetMode(mode)

Parameters Mode = Contact Flags (Integer Multiplier)

Description Sets the global contact mode. Contact joints are created using this contact mode during a collision. If set, a geom contact mode will override the global contact mode. The contact joint and contact flags are described in more detail in the Joints section of the official ODE documentation.

Returns None

Example dContactSetMode(dContactBounce+dContactSlip1+dContactSoftERP)

Function dContactGetMode()

Parameters None

Description Returns the current global contact mode.

Returns Contact Flags (Integer Multiplier)

Function dContactSetMu(mu#)

Parameters Mu = Friction Direction 1 Coefficient (Float)

Description Sets the global contact friction direction 1 coefficient. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetMu()

Parameters None

Description Returns the current global contact direction 1 friction coefficient value. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 1 Coefficient (Float)

Function dContactSetMu2(mu#)

Parameters Mu = Friction Direction 2 Coefficient (Float)

Description Sets the global contact friction direction 2 coefficient. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetMu2()

Parameters None

Description Returns the current global contact direction 2 friction coefficient value. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 2 Coefficient (Float)

Function dContactSetFDir1(fdir1x#,fdir1y#,fdir1z#)

Parameters FDir1X = Friction Vector X Axis (Float) FDir1Y = Friction Vector Y Axis (Float) FDir1Z = Friction Vector Z Axis (Float)

Description Sets the global contact first friction direction vector. The FDir1 functions allow fine control over the quantity of friction applied on each individual axis. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetFDir1() - JV-ODE Vector Function

Parameters None

Description Returns the current global contact first friction direction vector values. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dContactSetBounce(bounce#)

Parameters Bounce = Bounce Restitution (Float)

Description Sets the global contact bounce restitution. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetBounce()

Parameters None

Description Returns the current global contact bounce restitution value. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Bounce Restitution (Float)

Function dContactSetBounceVel(vel#)

Parameters Vel = Minimum Incoming Bounce Velocity (Float)

Description Sets the global contact minimum incoming bounce velocity. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetBounceVel()

Parameters None

Description Returns the current global contact minimum incoming bounce velocity value. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Minimum Incoming Bounce Velocity (Float)

Function dContactSetSoftERP(erp#)

Parameters Erp = Error Reduction Parameter (Float)

Description Sets the global contact error reduction parameter. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetSoftERP()

Parameters None

Description Returns the current global contact error reduction parameter value. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Error Reduction Parameter (Float)

Function dContactSetSoftCFM(cfm#)

Parameters Cfm = Constraint Force Mixing (Float)

Description Sets the global contact constraint force mixing. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetSoftCFM()

Parameters None

Description Returns the current global contact constraint force mixing value. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Constraint Force Mixing (Float)

Function dContactSetMotion1(motion#)

Parameters Motion = Friction Direction 1 Surface Velocity (Float)

Description Sets the global contact friction direction 1 surface velocity. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetMotion1()

Parameters None

Description Returns the current global contact friction direction 1 surface velocity value. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 1 Surface Velocity (Float)

Function dContactSetMotion2(motion#)

Parameters Motion = Friction Direction 2 Surface Velocity (Float)

Description Sets the global contact friction direction 2 surface velocity. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetMotion2()

Parameters None

Description Returns the current global contact friction direction 2 surface velocity value. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 2 Surface Velocity (Float)

Function dContactSetSlip1(slip#)

Parameters Slip = Friction Direction 1 Force Dependent Slip (Float)

Description Sets the global contact friction direction 1 force dependent slip. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetSlip1()

Parameters None

Description Returns the current global contact friction direction 1 force dependent slip value. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 1 Force Dependent Slip (Float)

Function dContactSetSlip2(slip#)

Parameters Slip = Friction Direction 2 Force Dependent Slip (Float)

Description Sets the global contact friction direction 2 force dependent slip. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dContactGetSlip2()

Parameters None

Description Returns the current global contact friction direction 2 force dependent slip value. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 2 Force Dependent Slip (Float)

Function dGeomContactSetMode(geom,mode)

Parameters Geom = Geom ID (Integer) Mode = Contact Flags (Integer Multiplier)

Description Sets the contact mode of the specified geom. Contact joints are created using this geom contact mode during a collision. If set, a geom contact mode will override the global contact mode. The contact joint and contact flags are described in more detail in the Joints section of the official ODE documentation.

Returns None

Example dGeomContactSetMode(geom,dContactBounce+dContactSlip1+dContactSoftERP)

Function dGeomContactGetMode(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact mode of the specified geom.

Returns Contact Flags (Integer Multiplier)

Function dGeomContactSetMu(geom,mu#)

Parameters Geom = Geom ID (Integer) Mu = Friction Direction 1 Coefficient (Float)

Description Sets the contact friction direction 1 coefficient of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetMu(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact direction 1 friction coefficient value of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 1 Coefficient (Float)

Function dGeomContactSetMu2(geom,mu#)

Parameters Geom = Geom ID (Integer) Mu = Friction Direction 2 Coefficient (Float)

Description Sets the contact friction direction 2 coefficient of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetMu2(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact direction 2 friction coefficient value of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 2 Coefficient (Float)

Function dGeomContactSetFDir1(geom,fdir1x#,fdir1y#,fdir1z#)

Parameters Geom = Geom ID (Integer) FDir1X = Friction Vector X Axis (Float) FDir1Y = Friction Vector Y Axis (Float) FDir1Z = Friction Vector Z Axis (Float)

Description Sets the contact first friction direction vector of the specified geom. The FDir1 functions allow fine control over the quantity of friction applied on each individual axis. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetFDir1(geom) - JV-ODE Vector Function

Parameters Geom = Geom ID (Integer)

Description Returns the current contact first friction direction vector values of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None - Vector result returned via JV-ODE Vector Functions

Function dGeomContactSetBounce(geom,bounce#)

Parameters Geom = Geom ID (Integer) Bounce = Bounce Restitution (Float)

Description Sets the contact bounce restitution of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetBounce(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact bounce restitution value of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Bounce Restitution (Float)

Function dGeomContactSetBounceVel(geom,vel#)

Parameters Geom = Geom ID (Integer) Vel = Minimum Incoming Bounce Velocity (Float)

Description Sets the contact minimum incoming bounce velocity of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetBounceVel(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact minimum incoming bounce velocity value of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Minimum Incoming Bounce Velocity (Float)

Function dGeomContactSetSoftERP(geom,erp#)

Parameters Geom = Geom ID (Integer) Erp = Error Reduction Parameter (Float)

Description Sets the contact error reduction parameter of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetSoftERP(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact error reduction parameter value of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Error Reduction Parameter (Float)

Function dGeomContactSetSoftCFM(geom,cfm#)

Parameters Geom = Geom ID (Integer) Cfm = Constraint Force Mixing (Float)

Description Sets the contact constraint force mixing of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetSoftCFM(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact constraint force mixing value of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Constraint Force Mixing (Float)

Function dGeomContactSetMotion1(geom,motion#)

Parameters Geom = Geom ID (Integer) Motion = Friction Direction 1 Surface Velocity (Float)

Description Sets the contact friction direction 1 surface velocity of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetMotion1(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact friction direction 1 surface velocity value of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 1 Surface Velocity (Float)

Function dGeomContactSetMotion2(geom,motion#)

Parameters Geom = Geom ID (Integer) Motion = Friction Direction 2 Surface Velocity (Float)

Description Sets the contact friction direction 2 surface velocity of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetMotion2(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact friction direction 2 surface velocity value of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 2 Surface Velocity (Float)

Function dGeomContactSetSlip1(geom,slip#)

Parameters Geom = Geom ID (Integer) Slip = Friction Direction 1 Force Dependent Slip (Float)

Description Sets the contact friction direction 1 force dependent slip of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetSlip1(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact friction direction 1 force dependent slip value of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 1 Force Dependent Slip (Float)

Function dGeomContactSetSlip2(geom,slip#)

Parameters Geom = Geom ID (Integer) Slip = Friction Direction 2 Force Dependent Slip (Float)

Description Sets the contact friction direction 2 force dependent slip of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns None

Function dGeomContactGetSlip2(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the current contact friction direction 2 force dependent slip value of the specified geom. The contact joint settings are described in more detail in the Joints section of the official ODE documentation.

Returns Friction Direction 2 Force Dependent Slip (Float)

Function dGeomContactSetDefaults(geom)

Parameters Geom = Geom ID (Integer)

Description Sets all geom contact settings of the specified geom to the default values.

Returns None

Function dGeom1CountCollisions(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the number of collisions detected on the specified geom during the previous call to the dSpaceCollide() function. The dGeom1* detailed collision functions return data from collisions between the specified geom and geoms of larger dimensions. To return all possible detailed collision data, this function should be used together with the dGeom2CountCollisions(geom) function.

Returns Collision Count (Integer)

Example Dim GeomObjectID(100) Dim XPos#(100) Dim YPos#(100) Dim ZPos#(100) If dGeom1CountCollisions(geom)>0     For count=1 to dGeom1CountCollisions(geom)         GeomObjectID(count)=dGeom1CollisionGeom(geom,count)         XPos#(count)=dGeom1CollisionX(geom,count)         YPos#(count)=dGeom1CollisionY(geom,count)         ZPos#(count)=dGeom1CollisionZ(geom,count)     Next     End If

Function dGeom1CollisionGeom(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the geom ID of an object which has collided with the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each object individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom2CollisionGeom(geom,index) function.

Returns Geom ID (Integer)

Example If dGeom1CountCollisions(geom)>0     GeomObjectID=dGeom1CollisionGeom(geom,1)     End If

Function dGeom1CollisionX(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the X coordinate of the collision detected on the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each position individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom2CollisionX(geom,index) function.

Returns X Position (Float)

Example If dGeom1CountCollisions(geom)>0     XPos#=dGeom1CollisionX(geom,1)     End If

Function dGeom1CollisionY(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the Y coordinate of the collision detected on the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each position individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom2CollisionY(geom,index) function.

Returns Y Position (Float)

Example If dGeom1CountCollisions(geom)>0     YPos#=dGeom1CollisionY(geom,1)     End If

Function dGeom1CollisionZ(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the Z coordinate of the collision detected on the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each position individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom2CollisionZ(geom,index) function.

Returns Z Position (Float)

Example If dGeom1CountCollisions(geom)>0     ZPos#=dGeom1CollisionZ(geom,1)     End If

Function dGeom1CollisionNX(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the X component of the collision normal for the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each component individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom2CollisionNX(geom,index) function.

Returns NX Component (Float)

Example If dGeom1CountCollisions(geom)>0     NXComp#=dGeom1CollisionNX(geom,1)     End If

Function dGeom1CollisionNY(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the Y component of the collision normal for the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each component individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom2CollisionNY(geom,index) function.

Returns NY Component (Float)

Example If dGeom1CountCollisions(geom)>0     NYComp#=dGeom1CollisionNY(geom,1)     End If

Function dGeom1CollisionNZ(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the Z component of the collision normal for the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each component individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom2CollisionNZ(geom,index) function.

Returns NZ Component (Float)

Example If dGeom1CountCollisions(geom)>0     NZComp#=dGeom1CollisionNZ(geom,1)     End If

Function dGeom1CollisionDepth(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the depth of the collision on the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each depth individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom2CollisionDepth(geom,index) function.

Returns Collision Depth (Float)

Example If dGeom1CountCollisions(geom)>0     CDepth#=dGeom1CollisionDepth(geom,1)     End If

Function dGeom2CountCollisions(geom)

Parameters Geom = Geom ID (Integer)

Description Returns the number of collisions detected on the specified geom during the previous call to the dSpaceCollide() function. The dGeom2* detailed collision functions return data from collisions between the specified geom and geoms of smaller dimensions. To return all possible detailed collision data, this function should be used together with the dGeom1CountCollisions(geom) function.

Returns Collision Count (Integer)

Example Dim GeomObjectID(100) Dim XPos#(100) Dim YPos#(100) Dim ZPos#(100) If dGeom2CountCollisions(geom)>0     For count=1 to dGeom2CountCollisions(geom)         GeomObjectID(count)=dGeom2CollisionGeom(geom,count)         XPos#(count)=dGeom2CollisionX(geom,count)         YPos#(count)=dGeom2CollisionY(geom,count)         ZPos#(count)=dGeom2CollisionZ(geom,count)     Next     End If

Function dGeom2CollisionGeom(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the geom ID of an object which has collided with the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each object individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom1CollisionGeom(geom,index) function.

Returns Geom ID (Integer)

Example If dGeom2CountCollisions(geom)>0     GeomObjectID=dGeom2CollisionGeom(geom,1)     End If

Function dGeom2CollisionX(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the X coordinate of the collision detected on the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each position individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom1CollisionX(geom,index) function.

Returns X Position (Float)

Example If dGeom2CountCollisions(geom)>0     XPos#=dGeom2CollisionX(geom,1)     End If

Function dGeom2CollisionY(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the Y coordinate of the collision detected on the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each position individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom1CollisionY(geom,index) function.

Returns Y Position (Float)

Example If dGeom2CountCollisions(geom)>0     YPos#=dGeom2CollisionY(geom,1)     End If

Function dGeom2CollisionZ(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the Z coordinate of the collision detected on the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each position individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom1CollisionZ(geom,index) function.

Returns Z Position (Float)

Example If dGeom2CountCollisions(geom)>0     ZPos#=dGeom2CollisionZ(geom,1)     End If

Function dGeom2CollisionNX(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the X component of the collision normal for the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each component individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom1CollisionNX(geom,index) function.

Returns NX Component (Float)

Example If dGeom2CountCollisions(geom)>0     NXComp#=dGeom2CollisionNX(geom,1)     End If

Function dGeom2CollisionNY(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the Y component of the collision normal for the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each component individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom1CollisionNY(geom,index) function.

Returns NY Component (Float)

Example If dGeom2CountCollisions(geom)>0     NYComp#=dGeom2CollisionNY(geom,1)     End If

Function dGeom2CollisionNZ(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the Z component of the collision normal for the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each component individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom1CollisionNZ(geom,index) function.

Returns NZ Component (Float)

Example If dGeom2CountCollisions(geom)>0     NZComp#=dGeom2CollisionNZ(geom,1)     End If

Function dGeom2CollisionDepth(geom,index)

Parameters Geom = Geom ID (Integer) Index = Collision Index (Integer) - Index Range: 1 to Collision Count

Description Returns the depth of the collision on the specified geom. If more than one collision has occurred with the specified geom, the index can be used to identify each depth individually. You must ensure at least one collision has occurred with the specified geom before using this function, failing to do so will result in an error. To return all possible detailed collision data, this function should be used together with the dGeom1CollisionDepth(geom,index) function.

Returns Collision Depth (Float)

Example If dGeom2CountCollisions(geom)>0     CDepth#=dGeom2CollisionDepth(geom,1)     End If

Function dSpaceCollide(space,world,group)

Parameters Space = Space ID (Integer) World = World ID (Integer) Group = Joint Contact Group ID (Integer)

Description Performs collision detection of all geoms in the top level simulation space, including any sub-spaces. This function should be called prior to stepping the simulation with dWorldQuickStep() or dWorldStep(). More information about this function can be found in the Collision Detection section of the official ODE documentation. The parameters of the ODE version of this function are different to the JV-ODE version, however it works in an identical manner.

Returns None

Function dSpaceCollide2(geom1,geom2,world,group)

Parameters Geom1 = Geom ID (Integer) / Space ID (Integer) Geom2 = Geom ID (Integer) / Space ID (Integer) World = World ID (Integer) Group = Joint Contact Group ID (Integer)

Description Performs collision detection between two geoms or spaces. This function should be called prior to stepping the simulation with dWorldQuickStep() or dWorldStep(). More information about this function can be found in the Collision Detection section of the official ODE documentation. The parameters of the ODE version of this function are different to the JV-ODE version, however it works in an identical manner.

Returns None

Internal Collision Functions

Function dSetInternalSpaceCollideMode(mode)

Parameters Mode = Collide Mode (Integer): 0 = Disabled 1 = Enabled - Default: 1

Description Sets the internal space collide mode used in multiple space simulations. Disabling the internal space collide mode will prevent collision detection between any geoms that occupy the same sub-space. Geom collisions in the top level space remain unaffected and will collide normally with all sub-space geoms. For example, if a terrain is created using several overlapping static TriMeshes, a significant slowdown in the simulation will be experienced. The reason for the slowdown is due to the TriMeshes colliding with each other and generating a large number of collision contacts. The same applies if the TriMeshes are in contact with a ground plane. It takes ODE a long time to process all of these collision contacts, hence the slowdown experienced. The solution is to place all of the static TriMeshes (and the ground plane if used) into their own sub-space and to disable the internal space collide mode, then no collision contacts will be generated between them and the performance of the simulation will be unhindered. All geoms located in other sub-spaces or in the top level space will still collide normally with the static TriMeshes.

Returns None

Function dGetInternalSpaceCollideMode()

Parameters None

Description Returns the current internal space collide mode used in multiple space simulations.

Returns Collide Mode (Integer): 0 = Disabled 1 = Enabled

Function dSetInternalContactSurfaceMode(mode)

Parameters Mode = Contact Surface Mode (Integer): 0 = Mean 1 = Maximum 2 = Minimum - Default: 0

Description Sets the contact surface mode used when contact joints are created during a collision. When two geoms collide with the surface contact mode set to Mean (0), their surface contact properties are combined and then averaged. For example: TotalGeomBounce=(Geom1Bounce+Geom2Bounce)/2 When two geoms collide with the surface contact mode set to Maximum (1), their surface contact properties are compared and only the highest property is used, the lowest property is discarded. For example: TotalGeomBounce=*Geom1Bounce Or *Geom2Bounce (* = whichever is higher) When two geoms collide with the surface contact mode set to Minimum (2), their surface contact properties are compared and only the lowest property is used, the highest property is discarded. For example: TotalGeomBounce=*Geom1Bounce Or *Geom2Bounce (* = whichever is lower)

Returns None

Function dGetInternalContactSurfaceMode()

Parameters None

Description Returns the current internal contact surface mode.

Returns Contact Surface Mode (Integer): 0 = Mean 1 = Maximum 2 = Minimum

Misc Functions

Function dVectorW()

Parameters None

Description Returns the current W vector filled by the JV-ODE Vector Functions.

Returns JV-ODE W Vector Element (Float)

Function dVectorX()

Parameters None

Description Returns the current X vector filled by the JV-ODE Vector Functions.

Returns JV-ODE X Vector Element (Float)

Function dVectorY()

Parameters None

Description Returns the current Y vector filled by the JV-ODE Vector Functions.

Returns JV-ODE Y Vector Element (Float)

Function dVectorZ()

Parameters None

Description Returns the current Z vector filled by the JV-ODE Vector Functions.

Returns JV-ODE Z Vector Element (Float)

Function dGetVersion()

Parameters None

Description Returns the JV-ODE DLL Version number.

Returns JV-ODE DLL Version (Float)

Function dRegisterODE(key1,key2,key3,key4)

Parameters Key1 = JV-ODE Registration Key 1 (Integer) Key2 = JV-ODE Registration Key 2 (Integer) Key3 = JV-ODE Registration Key 3 (Integer) Key4 = JV-ODE Registration Key 4 (Integer)

Description Initialises the JV-ODE DLL. The function is called from within the 'JV-ODE.bb' include file, it isn't necessary for the user to call this function elsewhere in their program. The JV-ODE registration keys and all other contents of the 'JV-ODE.bb' include file must always be kept strictly confidential. If the JV-ODE DLL is not initialised, an error will occur.

Returns None

JV-ODE Vector Functions World Functions

Function dWorldGetGravity(world)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dWorldGetGravity(world) GravityX#=dVectorX() GravityY#=dVectorY() GravityZ#=dVectorZ()

Function dWorldImpulseToForce(world,stepsize#,ix#,iy#,iz#)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dWorldImpulseToForce(world,stepsize#,ix#,iy#,iz#) VectorForceX#=dVectorX() VectorForceY#=dVectorY() VectorForceZ#=dVectorZ()

Space Functions

Function dHashSpaceGetLevels(space)

Vectors Used dVectorX() dVectorY()

Example dHashSpaceGetLevels(space) MinLevel#=dVectorX() MaxLevel#=dVectorY()

Rigid Body Functions

Function dBodyGetPosition(body)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetPosition(body) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dBodyGetRotation(body)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetRotation(body) Pitch#=dVectorX() Yaw#=dVectorY() Roll#=dVectorZ()

Function dBodyGetQuaternion(body)

Vectors Used dVectorW() dVectorX() dVectorY() dVectorZ()

Example dBodyGetQuaternion(body) QuatW#=dVectorW() QuatX#=dVectorX() QuatY#=dVectorY() QuatZ#=dVectorZ()

Function dBodyGetAxisAngle(body)

Vectors Used dVectorW() dVectorX() dVectorY() dVectorZ()

Example dBodyGetAxisAngle(body) Angle#=dVectorW() RX#=dVectorX() RY#=dVectorY() RZ#=dVectorZ()

Function dBodyGetLinearVel(body)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetLinearVel(body) LVelX#=dVectorX() LVelY#=dVectorY() LVelZ#=dVectorZ()

Function dBodyGetAngularVel(body)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetAngularVel(body) AVelX#=dVectorX() AVelY#=dVectorY() AVelZ#=dVectorZ()

Function dBodyGetForce(body)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetForce(body) ForceX#=dVectorX() ForceY#=dVectorY() ForceZ#=dVectorZ()

Function dBodyGetTorque(body)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetTorque(body) TorqueX#=dVectorX() TorqueY#=dVectorY() TorqueZ#=dVectorZ()

Function dBodyGetRelPointPos(body,px#,py#,pz#)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetRelPointPos(body,px#,py#,pz#) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dBodyGetRelPointVel(body,px#,py#,pz#)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetRelPointVel(body,px#,py#,pz#) VelX#=dVectorX() VelY#=dVectorY() VelZ#=dVectorZ()

Function dBodyGetPointVel(body,px#,py#,pz#)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetPointVel(body,px#,py#,pz#) VelX#=dVectorX() VelY#=dVectorY() VelZ#=dVectorZ()

Function dBodyGetPosRelPoint(body,px#,py#,pz#)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetPosRelPoint(body,px#,py#,pz#) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dBodyVectorToWorld(body,px#,py#,pz#)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyVectorToWorld(body,px#,py#,pz#) VecX#=dVectorX() VecY#=dVectorY() VecZ#=dVectorZ()

Function dBodyVectorFromWorld(body,px#,py#,pz#)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyVectorFromWorld(body,px#,py#,pz#) VecX#=dVectorX() VecY#=dVectorY() VecZ#=dVectorZ()

Function dBodyGetFiniteRotationAxis(body)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dBodyGetFiniteRotationAxis(body) RotAX#=dVectorX() RotAY#=dVectorY() RotAZ#=dVectorZ()

Geom Functions

Function dGeomGetPosition(geom)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dGeomGetPosition(geom) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dGeomGetRotation(geom)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dGeomGetRotation(geom) Pitch#=dVectorX() Yaw#=dVectorY() Roll#=dVectorZ()

Function dGeomGetQuaternion(geom)

Vectors Used dVectorW() dVectorX() dVectorY() dVectorZ()

Example dGeomGetQuaternion(geom) QuatW#=dVectorW() QuatX#=dVectorX() QuatY#=dVectorY() QuatZ#=dVectorZ()

Function dGeomGetAxisAngle(geom)

Vectors Used dVectorW() dVectorX() dVectorY() dVectorZ()

Example dGeomGetAxisAngle(geom) Angle#=dVectorW() RX#=dVectorX() RY#=dVectorY() RZ#=dVectorZ()

Function dGeomGetAABBMin(geom)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dGeomGetAABBMin(geom) MinX#=dVectorX() MinY#=dVectorY() MinZ#=dVectorZ()

Function dGeomGetAABBMax(geom)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dGeomGetAABBMax(geom) MaxX#=dVectorX() MaxY#=dVectorY() MaxZ#=dVectorZ()

Function dGeomBoxGetLengths(box)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dGeomBoxGetLengths(box) LenX#=dVectorX() LenY#=dVectorY() LenZ#=dVectorZ()

Function dGeomPlaneGetParams(plane)

Vectors Used dVectorW() dVectorX() dVectorY() dVectorZ()

Example dGeomPlaneGetParams(plane) PlaneA#=dVectorW() PlaneB#=dVectorX() PlaneC#=dVectorY() PlaneD#=dVectorZ()

Function dGeomCylinderGetParams(cylinder)

Vectors Used dVectorX() dVectorY()

Example dGeomCylinderGetParams(cylinder) Radius#=dVectorX() Length#=dVectorY()

Function dGeomCCylinderGetParams(ccylinder)

Vectors Used dVectorX() dVectorY()

Example dGeomCCylinderGetParams(ccylinder) Radius#=dVectorX() Length#=dVectorY()

Function dGeomRayGetStart(ray)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dGeomRayGetStart(ray) StartXPos#=dVectorX() StartYPos#=dVectorY() StartZPos#=dVectorZ()

Function dGeomRayGetDir(ray)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dGeomRayGetDir(ray) DirX#=dVectorX() DirY#=dVectorY() DirZ#=dVectorZ()

Function dGeomGetOffsetPosition(geom)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dGeomGetOffsetPosition(geom) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dGeomGetOffsetRotation(geom)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dGeomGetOffsetRotation(geom) Pitch#=dVectorX() Yaw#=dVectorY() Roll#=dVectorZ()

Function dGeomGetOffsetQuaternion(geom)

Vectors Used dVectorW() dVectorX() dVectorY() dVectorZ()

Example dGeomGetOffsetQuaternion(geom) QuatW#=dVectorW() QuatX#=dVectorX() QuatY#=dVectorY() QuatZ#=dVectorZ()

Function dGeomCapsuleGetParams(capsule)

Vectors Used dVectorX() dVectorY()

Example dGeomCapsuleGetParams(capsule) Radius#=dVectorX() Length#=dVectorY()

Function dGeomGetOffsetAxisAngle(geom)

Vectors Used dVectorW() dVectorX() dVectorY() dVectorZ()

Example dGeomGetOffsetAxisAngle(geom) Angle#=dVectorW() RX#=dVectorX() RY#=dVectorY() RZ#=dVectorZ()

Joint Functions

Function dJointGetFeedbackForce1(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetFeedbackForce1(joint) Force1X#=dVectorX() Force1Y#=dVectorY() Force1Z#=dVectorZ()

Function dJointGetFeedbackTorque1(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetFeedbackTorque1(joint) Torque1X#=dVectorX() Torque1Y#=dVectorY() Torque1Z#=dVectorZ()

Function dJointGetFeedbackForce2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetFeedbackForce2(joint) Force2X#=dVectorX() Force2Y#=dVectorY() Force2Z#=dVectorZ()

Function dJointGetFeedbackTorque2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetFeedbackTorque2(joint) Torque2X#=dVectorX() Torque2Y#=dVectorY() Torque2Z#=dVectorZ()

Function dJointGetBallAnchor(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetBallAnchor(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetBallAnchor2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetBallAnchor2(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetHingeAnchor(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetHingeAnchor(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetHingeAnchor2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetHingeAnchor2(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetHingeAxis(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetHingeAxis(joint) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Function dJointGetSliderAxis(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetSliderAxis(joint) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Function dJointGetUniversalAnchor(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetUniversalAnchor(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetUniversalAnchor2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetUniversalAnchor2(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetUniversalAxis1(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetUniversalAxis1(joint) Axis1X#=dVectorX() Axis1Y#=dVectorY() Axis1Z#=dVectorZ()

Function dJointGetUniversalAxis2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetUniversalAxis2(joint) Axis2X#=dVectorX() Axis2Y#=dVectorY() Axis2Z#=dVectorZ()

Function dJointGetUniversalAngles(joint)

Vectors Used dVectorX() dVectorY()

Example dJointGetUniversalAngles(joint) Angle1#=dVectorX() Angle2#=dVectorY()

Function dJointGetHinge2Anchor(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetHinge2Anchor(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetHinge2Anchor2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetHinge2Anchor2(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetHinge2Axis1(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetHinge2Axis1(joint) Axis1X#=dVectorX() Axis1Y#=dVectorY() Axis1Z#=dVectorZ()

Function dJointGetHinge2Axis2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetHinge2Axis2(joint) Axis2X#=dVectorX() Axis2Y#=dVectorY() Axis2Z#=dVectorZ()

Function dJointGetAMotorAxis(joint,num)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetAMotorAxis(joint,num) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Function dJointGetLMotorAxis(joint,anum)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetLMotorAxis(joint,anum) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Function dJointGetPRAnchor(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPRAnchor(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetPRAxis1(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPRAxis1(joint) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Function dJointGetPRAxis2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPRAxis2(joint) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Function dJointGetPUAnchor(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPUAnchor(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetPUAxis1(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPUAxis1(joint) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Function dJointGetPUAxis2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPUAxis2(joint) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Function dJointGetPUAxis3(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPUAxis3(joint) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Function dJointGetPUAxisP(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPUAxisP(joint) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Function dJointGetPUAngles(joint)

Vectors Used dVectorX() dVectorY()

Example dJointGetPUAngles(joint) Angle1#=dVectorX() Angle2#=dVectorY()

Function dJointGetPistonAnchor(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPistonAnchor(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetPistonAnchor2(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPistonAnchor2(joint) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Function dJointGetPistonAxis(joint)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dJointGetPistonAxis(joint) AxisX#=dVectorX() AxisY#=dVectorY() AxisZ#=dVectorZ()

Mass Functions

Function dMassCenter(mass)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dMassCenter(mass) XPos#=dVectorX() YPos#=dVectorY() ZPos#=dVectorZ()

Collision Functions

Function dContactGetFDir1()

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dContactGetFDir1() FDir1X#=dVectorX() FDir1Y#=dVectorY() FDir1Z#=dVectorZ()

Function dGeomContactGetFDir1(geom)

Vectors Used dVectorX() dVectorY() dVectorZ()

Example dGeomContactGetFDir1(geom) FDir1X#=dVectorX() FDir1Y#=dVectorY() FDir1Z#=dVectorZ()

Copyright © 2008 - Jim Williams