[ODE] New additions to CVS

[Russ Smith]

thanks for this ... the style is fine.

russ.


On Mon, 23 Jun 2003 17:01:43 -0400
"Martin C. Martin" <martin@metahuman.org> wrote:

> Hi all,
> 
> I've added a few utility functions to the ODE cvs, and added documentation
> for them, included below.  Russ, I tried to stay in the "style" of ODE as
> best I could.  Let me know if you'd like any changes.
> 
> Enjoy,
> Martin
> 
> void dGeomSetQuaternion (dGeomID, const dQuaternion);
> 
> Set the quaternion of a placeable geom. This function is analogous to
> dBodySetQuaternion(). If the geom is attached to a body, the body's
> quaternion will also be changed.
> 
> void dGetGetQuaternion (dGeomID, const dQuaternion);
> 
> dGeomGetQuaternion() copies the geom's quaternion into the space provided.
> If the geom is attached to a body, the body's quaternion will be returned,
> i.e. the resulting quaternion will be the same as the result of calling
> dBodyGetQuaternion().
> 
> void dJointGetBallAnchor2 (dJointID, dVector3 result);
> void dJointGetHingeAnchor2 (dJointID, dVector3 result);
> void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
> void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
> 
> Get the joint anchor point, in world coordinates. This returns the point
> on body 2. You can think of a ball and socket joint as trying to keep the
> result of dJointGetBallAnchor() and dJointGetBallAnchor2() the same. If
> the joint is perfectly satisfied, this function will return the same value
> as dJointGetBallAnchor() to within roundoff errors. dJointGetBallAnchor2()
> can be used, along with dJointGetBallAnchor(), to see how far the joint
> has come apart.
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> 


-- 
Russell Smith
http://www.q12.org