// ImpulseToForce converts an impulse to a force over a step duration.
func (w World) ImpulseToForce(stepSize float64, impulse Vector3) Vector3 {
force := NewVector3()
C.dWorldImpulseToForce(w.c(), C.dReal(stepSize),
C.dReal(impulse[0]), C.dReal(impulse[1]), C.dReal(impulse[2]),
(*C.dReal)(&force[0]))
return force
}
// SetParams sets the mass parameters.
func (m *Mass) SetParams(mass float64, com Vector3, inert Matrix3) {
c := &C.dMass{}
C.dMassSetParameters(c, C.dReal(mass),
C.dReal(com[0]), C.dReal(com[1]), C.dReal(com[2]),
C.dReal(inert[0][0]), C.dReal(inert[1][1]), C.dReal(inert[2][2]),
C.dReal(inert[0][1]), C.dReal(inert[0][2]), C.dReal(inert[1][3]))
m.fromC(c)
}
// Build builds a heightfield data set.
func (h Heightfield) Build(data HeightfieldData, heightSamples Matrix,
width, depth, scale, offset, thickness float64, doWrap bool) {
numWidthSamp, numDepthSamp := len(heightSamples), 0
var heightSamplesPtr *C.double
if numDepthSamp > 0 {
numWidthSamp = len(heightSamples[0])
if numWidthSamp > 0 {
heightSamplesPtr = (*C.double)(&heightSamples[0][0])
}
}
C.dGeomHeightfieldDataBuildDouble(data.c(), heightSamplesPtr, 1,
C.dReal(width), C.dReal(depth), C.int(numWidthSamp), C.int(numDepthSamp),
C.dReal(scale), C.dReal(offset), C.dReal(thickness), C.int(btoi(doWrap)))
}
func (g *ContactGeom) toC(c *C.dContactGeom) {
Vector(g.Pos).toC((*C.dReal)(&c.pos[0]))
Vector(g.Normal).toC((*C.dReal)(&c.normal[0]))
c.depth = C.dReal(g.Depth)
c.g1 = g.G1.c()
c.g2 = g.G2.c()
c.side1 = C.int(g.Side1)
c.side2 = C.int(g.Side2)
}
func (v Vector) convertC(c *C.dReal, toC bool) {
for i := range v {
if toC {
*c = C.dReal(v[i])
} else {
v[i] = float64(*c)
}
c = (*C.dReal)(unsafe.Pointer(uintptr(unsafe.Pointer(c)) + unsafe.Sizeof(*c)))
}
}
func (m Matrix) convertC(c *C.dReal, toC bool) {
for i := range m {
for j := 0; j < cap(m[i]); j++ {
if j < len(m[i]) {
if toC {
*c = C.dReal(m[i][j])
} else {
m[i][j] = float64(*c)
}
}
c = (*C.dReal)(unsafe.Pointer(uintptr(unsafe.Pointer(c)) + unsafe.Sizeof(*c)))
}
}
}
// SetContactSurfaceLayer sets the depth of the surface layer around all
// geometry objects.
func (w World) SetContactSurfaceLayer(depth float64) {
C.dWorldSetContactSurfaceLayer(w.c(), C.dReal(depth))
}
// SetContactMaxCorrectingVelocity sets the maximum correcting velocity that
// contacts are allowed to generate.
func (w World) SetContactMaxCorrectingVelocity(overRelaxation float64) {
C.dWorldSetContactMaxCorrectingVel(w.c(), C.dReal(overRelaxation))
}
func (m *Mass) SetTrimesh(density Real, g *Geom) {
C.dMassSetTrimesh((*C.dMass)(m), C.dReal(density), (C.dGeomID)((*C.struct_dxGeom)(g)))
}
// SetCFM sets the constraint force mixing value.
func (w World) SetCFM(cfm float64) {
C.dWorldSetCFM(w.c(), C.dReal(cfm))
}
// SetGravity sets the gravity vector.
func (w World) SetGravity(grav Vector3) {
C.dWorldSetGravity(w.c(), C.dReal(grav[0]), C.dReal(grav[1]), C.dReal(grav[2]))
}
// SetAngularDampingThreshold sets the angular damping threshold.
func (w World) SetAngularDampingThreshold(threshold float64) {
C.dWorldSetAngularDampingThreshold(w.c(), C.dReal(threshold))
}
// SetAutoDisableTime sets the auto disable time.
func (w World) SetAutoDisableTime(time float64) {
C.dWorldSetAutoDisableTime(w.c(), C.dReal(time))
}
func (s *SurfaceParameters) toC(c *C.dSurfaceParameters) {
c.mode = C.int(s.Mode)
c.mu = C.dReal(s.Mu)
c.mu2 = C.dReal(s.Mu2)
c.rho = C.dReal(s.Rho)
c.rho2 = C.dReal(s.Rho2)
c.rhoN = C.dReal(s.RhoN)
c.bounce = C.dReal(s.Bounce)
c.bounce_vel = C.dReal(s.BounceVel)
c.soft_erp = C.dReal(s.SoftErp)
c.soft_cfm = C.dReal(s.SoftCfm)
c.motion1 = C.dReal(s.Motion1)
c.motion2 = C.dReal(s.Motion2)
c.motionN = C.dReal(s.MotionN)
c.slip1 = C.dReal(s.Slip1)
c.slip2 = C.dReal(s.Slip2)
}
func (m *Mass) Translate(v Vector3) {
C.dMassTranslate((*C.dMass)(m), C.dReal(v[0]), C.dReal(v[1]), C.dReal(v[2]))
}
func (m *Mass) Adjust(newmass Real) {
C.dMassAdjust((*C.dMass)(m), C.dReal(newmass))
}
func (m *Mass) SetTrimeshTotal(total_mass Real, g *Geom) {
C.dMassSetTrimeshTotal((*C.dMass)(m), C.dReal(total_mass), (C.dGeomID)((*C.struct_dxGeom)(g)))
}
// SetAutoDisableLinearThreshold sets the auto disable linear average threshold.
func (w World) SetAutoDisableLinearThreshold(linearThreshold float64) {
C.dWorldSetAutoDisableLinearThreshold(w.c(), C.dReal(linearThreshold))
}
// SetAutoDisableAngularThreshold sets the auto disable angular average threshold.
func (w World) SetAutoDisableAngularThreshold(angularThreshold float64) {
C.dWorldSetAutoDisableAngularThreshold(w.c(), C.dReal(angularThreshold))
}
func (m *Matrix6) Random(absmax Real) {
C.dMakeRandomMatrix((*C.dReal)(&m[0]), 6, 6, C.dReal(absmax))
}
// SetAngularDamping sets the angular damping scale.
func (w World) SetAngularDamping(scale float64) {
C.dWorldSetAngularDamping(w.c(), C.dReal(scale))
}
func (v *Vector3) Random(absmax Real) {
C.dMakeRandomVector((*C.dReal)(&v[0]), 3, C.dReal(absmax))
}
// SetMaxAngularSpeed sets the maximum angular speed.
func (w World) SetMaxAngularSpeed(maxSpeed float64) {
C.dWorldSetMaxAngularSpeed(w.c(), C.dReal(maxSpeed))
}
// QuickStep executes a simulation quick step, and returns whether the
// operation succeeded.
func (w World) QuickStep(stepSize float64) bool {
return C.dWorldQuickStep(w.c(), C.dReal(stepSize)) != 0
}
// SetERP sets the error reduction parameter.
func (w World) SetERP(erp float64) {
C.dWorldSetERP(w.c(), C.dReal(erp))
}
// SetBounds sets the minimum and maximum height.
func (h Heightfield) SetBounds(data HeightfieldData, minHeight, maxHeight float64) {
C.dGeomHeightfieldDataSetBounds(data.c(), C.dReal(minHeight), C.dReal(maxHeight))
}
func (m *Mass) SetBox(density, lx, ly, lz Real) {
C.dMassSetBox((*C.dMass)(m), C.dReal(density), C.dReal(lx), C.dReal(ly), C.dReal(lz))
}
func (m *Mass) SetBoxTotal(total_mass, lx, ly, lz Real) {
C.dMassSetBoxTotal((*C.dMass)(m), C.dReal(total_mass), C.dReal(lx), C.dReal(ly), C.dReal(lz))
}
// Point returns a point on the specified triangle at the given barycentric coordinates.
func (t TriMesh) Point(index int, u, v float64) Vector3 {
pt := NewVector3()
C.dGeomTriMeshGetPoint(t.c(), C.int(index), C.dReal(u), C.dReal(v), (*C.dReal)(&pt[0]))
return pt
}
// SetQuickStepW sets the over-relaxation parameter.
func (w World) SetQuickStepW(overRelaxation float64) {
C.dWorldSetQuickStepW(w.c(), C.dReal(overRelaxation))
}