27 #include <selforg/stl_map.h>
30 #include <ode-dbl/common.h>
38 size_t operator() (
const std::pair<long, long>& p)
const {
39 return 2*p.first + p.second;
48 OdeHandle( dWorldID _world, dSpaceID _space, dJointGroupID _jointGroup);
void addSpace(dSpaceID g)
adds a space to the list of spaces for collision detection (ignored spaces do not need to be insered)...
Definition: odehandle.cpp:106
Data structure for accessing the ODE.
Definition: odehandle.h:44
Physical substance definition, used for collision detection/treatment What we need is mu...
Definition: substance.h:103
size_t operator()(const std::pair< long, long > &p) const
Definition: odehandle.h:38
double getTime()
Definition: odehandle.h:88
void close()
deletes the world and global data
Definition: odehandle.cpp:76
dWorldID world
Definition: odehandle.h:50
HashSet< long > * ignoredSpaces
set of ignored spaces
Definition: odehandle.h:112
void removeIgnoredPair(dGeomID g1, dGeomID g2)
removes pair of geoms from the list of ignored geom pairs for collision detection ...
Definition: odehandle.cpp:141
Substance substance
Definition: odehandle.h:54
void createNewHashSpace(dSpaceID parentspace, bool ignore_inside_collisions)
like createNewSimpleSpace but with a HashSpace.
Definition: odehandle.cpp:92
bool isIgnoredPair(dGeomID g1, dGeomID g2) const
checks whether a pair of geoms is an ignored pair for collision detection
Definition: odehandle.h:99
void createNewSimpleSpace(dSpaceID parentspace, bool ignore_inside_collisions)
use this function to create a new space with optional ignored collisions, use deleteSpace to destroy ...
Definition: odehandle.cpp:85
void init(double *time)
creates world at global space and so on and sets global time pointer.
Definition: odehandle.cpp:58
Interface class for primitives represented in the physical and graphical world.
Definition: primitive.h:80
void destroySpaces()
deletes all associated memory objects, handle with care - use only when program exits ...
Definition: odehandle.cpp:49
double g(double z)
neuron transfer function
Definition: regularisation.h:35
Definition: odehandle.h:37
dJointGroupID jointGroup
Definition: odehandle.h:52
dSpaceID space
Definition: odehandle.h:51
void deleteSpace()
destroys the space and unregisters them in the global lists
Definition: odehandle.cpp:99
void removeSpace(dSpaceID g)
removes a space from the list of ignored spaces for collision detection
Definition: odehandle.cpp:113
HashSet< std::pair< long, long >, geomPairHash > * ignoredPairs
set of ignored geom pairs for collision
Definition: odehandle.h:115
OdeHandle()
Definition: odehandle.cpp:34
double * time
Definition: odehandle.h:105
const std::vector< dSpaceID > & getSpaces()
returns list of all spaces (as vector for parallelisation
Definition: odehandle.cpp:125
std::vector< dSpaceID > * spaces
list of spaces, except ignored spaces
Definition: odehandle.h:109
void addIgnoredPair(dGeomID g1, dGeomID g2)
adds a pair of geoms to the list of ignored geom pairs for collision detection
Definition: odehandle.cpp:132