[Pyode-commits] pyode/src declarations.pyx,1.13,1.14 geomobject.pyx,1.3,1.4

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21008/src

Modified Files:
	declarations.pyx geomobject.pyx 
Log Message:
Added the getQuaternion()/setQuaternion() methods to the geom base class

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** declarations.pyx	5 May 2005 17:41:33 -0000	1.13
--- declarations.pyx	17 Jan 2006 09:07:54 -0000	1.14
***************
*** 366,371 ****
--- 366,373 ----
      void dGeomSetPosition (dGeomID, dReal x, dReal y, dReal z)
      void dGeomSetRotation (dGeomID, dMatrix3 R)
+     void dGeomSetQuaternion (dGeomID, dQuaternion)
      dReal * dGeomGetPosition (dGeomID)
      dReal * dGeomGetRotation (dGeomID)
+     void dGeomGetQuaternion (dGeomID, dQuaternion result)
      void dGeomDestroy (dGeomID)
      void dGeomGetAABB (dGeomID, dReal aabb[6])

Index: geomobject.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geomobject.pyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** geomobject.pyx	3 Mar 2005 09:36:16 -0000	1.3
--- geomobject.pyx	17 Jan 2006 09:07:54 -0000	1.4
***************
*** 189,192 ****
--- 189,224 ----
          return [m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10]]
  
+     def getQuaternion(self):
+         """getQuaternion() -> (w,x,y,z)
+ 
+         Get the current orientation of the geom. If the geom is attached to
+         a body the returned value is the body's orientation.
+         """
+         if not self.placeable():
+             raise ValueError, "Non-placeable geoms do not have an orientation."
+ 
+         cdef dQuaternion q
+         dGeomGetQuaternion(self.gid, q)
+         return (q[0],q[1],q[2],q[3])
+ 
+     def setQuaternion(self, q):
+         """setQuaternion(q)
+ 
+         Set the orientation of the geom. If the geom is attached to a body,
+         the body's orientation will also be changed.
+ 
+         @param q: Quaternion (w,x,y,z)
+         @type q: 4-sequence of floats
+         """
+         if not self.placeable():
+             raise ValueError, "Cannot set a quaternion on non-placeable geoms."
+ 
+         cdef dQuaternion cq
+         cq[0] = q[0]
+         cq[1] = q[1]
+         cq[2] = q[2]
+         cq[3] = q[3]
+         dGeomSetQuaternion(self.gid, cq)
+ 
      def getAABB(self):
          """getAABB() -> 6-tuple