opende-svn

[Opende-svn] SF.net SVN: opende:[1858] trunk/bindings/python

[<klo...@us...>]

Revision: 1858
          http://opende.svn.sourceforge.net/opende/?rev=1858&view=rev
Author:   klompjeg
Date:     2011-12-30 13:41:55 +0000 (Fri, 30 Dec 2011)
Log Message:
-----------
Added support for enabling and disabling joints.

Modified Paths:
--------------
    trunk/bindings/python/ode.pxd
    trunk/bindings/python/ode.pyx

Modified: trunk/bindings/python/ode.pxd
===================================================================
--- trunk/bindings/python/ode.pxd	2011-12-19 22:07:23 UTC (rev 1857)
+++ trunk/bindings/python/ode.pxd	2011-12-30 13:41:55 UTC (rev 1858)
@@ -232,6 +232,10 @@
 
     void dJointDestroy (dJointID)
 
+    void dJointEnable (dJointID)
+    void dJointDisable (dJointID)
+    int dJointIsEnabled (dJointID)
+
     dJointGroupID dJointGroupCreate (int max_size)
     void dJointGroupDestroy (dJointGroupID)
     void dJointGroupEmpty (dJointGroupID)

Modified: trunk/bindings/python/ode.pyx
===================================================================
--- trunk/bindings/python/ode.pyx	2011-12-19 22:07:23 UTC (rev 1857)
+++ trunk/bindings/python/ode.pyx	2011-12-30 13:41:55 UTC (rev 1858)
@@ -1826,6 +1826,36 @@
         """
         self.jid = NULL
 
+    # enable
+    def enable(self):
+        """enable()
+
+        Enable the joint. Disabled joints are completely ignored during the
+        simulation. Disabled joints don't lose the already computed information
+        like anchors and axes.
+        """
+        dJointEnable(self.jid)
+
+    # disable
+    def disable(self):
+        """disable()
+
+        Disable the joint. Disabled joints are completely ignored during the
+        simulation. Disabled joints don't lose the already computed information
+        like anchors and axes.
+        """
+        dJointDisable(self.jid)
+
+    # isEnabled
+    def isEnabled(self):
+        """isEnabled() -> bool
+
+        Determine whether the joint is enabled. Disabled joints are completely
+        ignored during the simulation. Disabled joints don't lose the already
+        computed information like anchors and axes.
+        """
+        return dJointIsEnabled(self.jid)
+
     # attach
     def attach(self, Body body1, Body body2):
         """attach(body1, body2)

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[Opende-svn] SF.net SVN: opende:[1871] trunk/bindings/python

[<klo...@us...>]

Revision: 1871
          http://opende.svn.sourceforge.net/opende/?rev=1871&view=rev
Author:   klompjeg
Date:     2012-03-05 21:34:40 +0000 (Mon, 05 Mar 2012)
Log Message:
-----------
Added Python binding for 'dGeomClearOffset' through Python geom object method 'clearOffset()'.

Modified Paths:
--------------
    trunk/bindings/python/ode.pxd
    trunk/bindings/python/ode.pyx

Modified: trunk/bindings/python/ode.pxd
===================================================================
--- trunk/bindings/python/ode.pxd	2012-03-02 22:13:00 UTC (rev 1870)
+++ trunk/bindings/python/ode.pxd	2012-03-05 21:34:40 UTC (rev 1871)
@@ -414,6 +414,7 @@
     void dGeomGetQuaternion (dGeomID, dQuaternion result)
     void dGeomSetOffsetPosition (dGeomID, dReal x, dReal y, dReal z)
     void dGeomSetOffsetRotation (dGeomID, dMatrix3 R)
+    void dGeomClearOffset (dGeomID)
     dReal * dGeomGetOffsetPosition (dGeomID)
     dReal * dGeomGetOffsetRotation (dGeomID)
     void dGeomDestroy (dGeomID)

Modified: trunk/bindings/python/ode.pyx
===================================================================
--- trunk/bindings/python/ode.pyx	2012-03-02 22:13:00 UTC (rev 1870)
+++ trunk/bindings/python/ode.pyx	2012-03-05 21:34:40 UTC (rev 1871)
@@ -3177,6 +3177,13 @@
         m = <dReal*>dGeomGetOffsetRotation(self.gid)
         return [m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10]]
 
+    def clearOffset(self):
+        """clearOffset()
+
+        Disable the offset transform of the geom.
+        """
+        dGeomClearOffset(self.gid)
+
     def getAABB(self):
         """getAABB() -> 6-tuple
 

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