The cl-ode Reference Manual

3.1.1 cl-ode/cl-ode.asd

Source

cl-ode.asd.

Parent Component

cl-ode (system).

ASDF Systems

cl-ode.

---

3.1.2 cl-ode/package.lisp

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Packages

cl-ode.

---

3.1.3 cl-ode/library.lisp

Dependency

package.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

---

3.1.4 cl-ode/utils.lisp

Dependency

library.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Internals

• add-vectors (function).
• dot (function).
• make-vector3 (function).
• make-zero-vector3 (function).
• make-zero-vector4 (function).
• multiply-vector (function).
• subtract-vectors (function).
• with-ode-object (macro).

---

3.1.5 cl-ode/types.lisp

Dependency

utils.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Public Interface

• initialize-instance (method).
• initialize-instance (method).
• initialize-instance (method).
• initialize-instance (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).

Internals

• *is-double-precision?* (constant).
• *object-hash* (special variable).
• contact (class).
• contact-fdir1 (method).
• (setf contact-fdir1) (method).
• contact-geom (method).
• (setf contact-geom) (method).
• contact-geometry (class).
• contact-geometry-depth (method).
• (setf contact-geometry-depth) (method).
• contact-geometry-g1 (method).
• (setf contact-geometry-g1) (method).
• contact-geometry-g2 (method).
• (setf contact-geometry-g2) (method).
• contact-geometry-normal (method).
• (setf contact-geometry-normal) (method).
• contact-geometry-pos (method).
• (setf contact-geometry-pos) (method).
• contact-geometry-side1 (method).
• (setf contact-geometry-side1) (method).
• contact-geometry-side2 (method).
• (setf contact-geometry-side2) (method).
• contact-geometry-struct-tclass (class).
• contact-geometry-type (class).
• contact-struct-tclass (class).
• contact-surface (method).
• (setf contact-surface) (method).
• contact-type (class).
• create-pointer-subclass (macro).
• create-pointer-type (macro).
• create-struct-class (macro).
• destroy (generic function).
• error-string (reader method).
• infinity (macro).
• len (reader method).
• len (reader method).
• len (reader method).
• len (reader method).
• mass (class).
• mass-center (method).
• (setf mass-center) (method).
• mass-inertia (method).
• (setf mass-inertia) (method).
• mass-mass (method).
• (setf mass-mass) (method).
• mass-struct-tclass (class).
• mass-type (class).
• number->dreal (function).
• number->single-float (function).
• ode-error (condition).
• struct-aref (method).
• struct-aref (method).
• struct-aref (method).
• struct-aref (method).
• struct-slot (macro).
• surface-parameters (class).
• surface-parameters-bounce (method).
• (setf surface-parameters-bounce) (method).
• surface-parameters-bounce-vel (method).
• (setf surface-parameters-bounce-vel) (method).
• surface-parameters-mode (method).
• (setf surface-parameters-mode) (method).
• surface-parameters-motion1 (method).
• (setf surface-parameters-motion1) (method).
• surface-parameters-motion2 (method).
• (setf surface-parameters-motion2) (method).
• surface-parameters-motionn (method).
• (setf surface-parameters-motionn) (method).
• surface-parameters-mu (method).
• (setf surface-parameters-mu) (method).
• surface-parameters-mu2 (method).
• (setf surface-parameters-mu2) (method).
• surface-parameters-rho (method).
• (setf surface-parameters-rho) (method).
• surface-parameters-rho2 (method).
• (setf surface-parameters-rho2) (method).
• surface-parameters-rhon (method).
• (setf surface-parameters-rhon) (method).
• surface-parameters-slip1 (method).
• (setf surface-parameters-slip1) (method).
• surface-parameters-slip2 (method).
• (setf surface-parameters-slip2) (method).
• surface-parameters-soft-cfm (method).
• (setf surface-parameters-soft-cfm) (method).
• surface-parameters-soft-erp (method).
• (setf surface-parameters-soft-erp) (method).
• surface-parameters-struct-tclass (class).
• surface-parameters-type (class).

---

3.1.6 cl-ode/world.lisp

Dependency

types.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Public Interface

• initialize-instance (method).
• translate-from-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).

Internals

• contact-group (reader method).
• destroy (method).
• destroy (method).
• proto-world (class).
• time-step (reader method).
• (setf time-step) (writer method).
• world (class).
• world-set-defaults (generic function).
• world-type (class).

---

3.1.7 cl-ode/spaces.lisp

Dependency

world.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Public Interface

• initialize-instance (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).

Internals

• destroy (method).
• hash-space (class).
• hash-space-type (class).
• pspace (class).
• pspace-type (class).
• quad-space (class).
• quad-space-type (class).

---

3.1.8 cl-ode/body.lisp

Dependency

spaces.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Public Interface

• body (class).
• initialize-instance (method).
• translate-from-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).

Internals

• body-get-geoms (method).
• body-get-transform (method).
• body-moved-callback (method).
• body-set-transform (method).
• body-type (class).
• destroy (method).
• move-handler (reader method).
• (setf move-handler) (method).
• (setf move-handler) (method).
• proto-body (class).

---

3.1.9 cl-ode/geometry.lisp

Dependency

body.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Public Interface

• close-callback (method).
• initialize-instance (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).

Internals

• body-get-transform (method).
• body-set-transform (method).
• box (class).
• box-type (class).
• capsule (class).
• capsule-type (class).
• collision-handler (reader method).
• (setf collision-handler) (writer method).
• combine-physics-objects (method).
• convex (class).
• convex-type (class).
• cylinder (class).
• cylinder-type (class).
• destroy (method).
• geometry (class).
• geometry-type (class).
• ghost (reader method).
• (setf ghost) (writer method).
• plane (class).
• plane-type (class).
• proto-geometry (class).
• sphere (class).
• sphere-type (class).
• surface-bounce (reader method).
• (setf surface-bounce) (writer method).
• surface-bounce-vel (reader method).
• (setf surface-bounce-vel) (writer method).
• surface-mode (reader method).
• (setf surface-mode) (writer method).
• surface-motion1 (reader method).
• (setf surface-motion1) (writer method).
• surface-motion2 (reader method).
• (setf surface-motion2) (writer method).
• surface-motionn (reader method).
• (setf surface-motionn) (writer method).
• surface-mu (reader method).
• (setf surface-mu) (writer method).
• surface-mu2 (reader method).
• (setf surface-mu2) (writer method).
• surface-rho (reader method).
• (setf surface-rho) (writer method).
• surface-rho2 (reader method).
• (setf surface-rho2) (writer method).
• surface-rhon (reader method).
• (setf surface-rhon) (writer method).
• surface-slip1 (reader method).
• (setf surface-slip1) (writer method).
• surface-slip2 (reader method).
• (setf surface-slip2) (writer method).
• surface-soft-cfm (reader method).
• (setf surface-soft-cfm) (writer method).
• surface-soft-erp (reader method).
• (setf surface-soft-erp) (writer method).

---

3.1.10 cl-ode/joints.lisp

Dependency

geometry.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Public Interface

• initialize-instance (method).
• initialize-instance (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-from-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).
• translate-to-foreign (method).

Internals

• contact-joint (class).
• contact-joint-type (class).
• destroy (method).
• destroy (method).
• joint (class).
• joint-group (class).
• joint-group-type (class).
• joint-type (class).

---

3.1.11 cl-ode/bindings.lisp

Dependency

joints.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Public Interface

• body-add-force (function).
• body-add-force-at-pos (function).
• body-add-force-at-rel-pos (function).
• body-add-rel-force (function).
• body-add-rel-force-at-pos (function).
• body-add-rel-force-at-rel-pos (function).
• body-add-rel-torque (function).
• body-add-torque (function).
• body-create (function).
• body-destroy (function).
• body-disable (function).
• body-enable (function).
• body-get-angular-damping (function).
• body-get-angular-vel (function).
• body-get-auto-disable-angular-threshold (function).
• body-get-auto-disable-average-samples-count (function).
• body-get-auto-disable-flag (function).
• body-get-auto-disable-linear-threshold (function).
• body-get-auto-disable-steps (function).
• body-get-auto-disable-time (function).
• body-get-first-geom (function).
• body-get-force (function).
• body-get-linear-damping (function).
• body-get-linear-vel (function).
• body-get-mass (generic function).
• body-get-next-geom (function).
• body-get-position (function).
• body-get-quaternion (function).
• body-get-rotation (function).
• body-get-torque (function).
• body-get-world (function).
• body-is-enabled (function).
• body-is-kinematic (function).
• body-set-angular-damping (function).
• body-set-angular-vel (function).
• body-set-auto-disable-angular-threshold (function).
• body-set-auto-disable-average-samples-count (function).
• body-set-auto-disable-defaults (function).
• body-set-auto-disable-flag (function).
• body-set-auto-disable-linear-threshold (function).
• body-set-auto-disable-steps (function).
• body-set-auto-disable-time (function).
• body-set-damping (function).
• body-set-dynamic (function).
• body-set-force (function).
• body-set-kinematic (function).
• body-set-linear-damping (function).
• body-set-linear-vel (function).
• body-set-mass (function).
• body-set-max-angular-speed (function).
• body-set-position (function).
• body-set-quaternion (function).
• body-set-rotation (function).
• body-set-torque (function).
• body-vector-from-world (function).
• body-vector-to-world (function).
• close-ode (function).
• collide (function).
• create-box (function).
• create-plane (function).
• geom-clear-offset (function).
• geom-destroy (function).
• geom-get-body (function).
• geom-get-category-bits (function).
• geom-get-collide-bits (function).
• geom-get-position (function).
• geom-get-quaternion (function).
• geom-get-rotation (function).
• geom-ray-get (method).
• geom-ray-get-closest-hit (function).
• geom-ray-get-length (function).
• geom-ray-set (function).
• geom-ray-set-closest-hit (function).
• geom-ray-set-length (function).
• geom-ray-set-params (function).
• geom-set-body (function).
• geom-set-category-bits (function).
• geom-set-collide-bits (function).
• geom-set-offset-position (function).
• geom-set-offset-quaternion (function).
• geom-set-offset-rotation (function).
• geom-set-position (function).
• geom-set-quaternion (function).
• geom-set-rotation (function).
• geom-sphere-get-radius (function).
• geom-sphere-point-depth (function).
• geom-sphere-set-radius (function).
• get-configuration (function).
• hash-space-create (function).
• init-ode (function).
• init-ode-2 (function).
• joint-attach (function).
• joint-create-contact (function).
• joint-get-type (function).
• joint-group-create (function).
• joint-group-destroy (function).
• joint-group-empty (function).
• mass-set-box (function).
• mass-set-box-total (function).
• mass-set-capsule (function).
• mass-set-capsule-total (function).
• mass-set-cylinder (function).
• mass-set-cylinder-total (function).
• mass-set-sphere (function).
• mass-set-sphere-total (function).
• mass-set-zero (function).
• quad-tree-space-create (function).
• rfrom-axis-and-angle (function).
• space-collide (function).
• space-destroy (function).
• world-create (function).
• world-destroy (function).
• world-get-angular-damping-threshold (function).
• world-get-auto-disable-flag (function).
• world-get-linear-damping-threshold (function).
• world-quick-step (function).
• world-set-angular-damping (function).
• world-set-angular-damping-threshold (function).
• world-set-auto-disable-flag (function).
• world-set-cfm (function).
• world-set-damping (function).
• world-set-erp (function).
• world-set-gravity (function).
• world-set-linear-damping (function).
• world-set-linear-damping-threshold (function).
• world-step (function).

Internals

• capsule-create (function).
• cylinder-create (function).
• dbodygetmass (function).
• dcreateconvex (function).
• defcfun-rename-function (macro).
• dgeomrayget (function).
• dgeomraygetparams (function).
• dsetconvex (function).
• dworldgetgravity (function).
• geom-ray-get-params (method).
• ray-create (function).
• sphere-create (function).
• swig-lispify-noprefix (function).

---

3.1.12 cl-ode/ray.lisp

Dependency

bindings.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Public Interface

• close-callback (method).
• translate-from-foreign (method).
• translate-to-foreign (method).

Internals

• ray (class).
• ray-type (class).

---

3.1.13 cl-ode/spring.lisp

Dependency

ray.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Public Interface

• close-callback (method).
• close-callback (method).
• damping (reader method).
• (setf damping) (writer method).
• springiness (reader method).
• (setf springiness) (writer method).

Internals

spring (class).

---

3.1.14 cl-ode/ode.lisp

Dependency

spring.lisp (file).

Source

cl-ode.asd.

Parent Component

cl-ode (system).

Public Interface

• body-set-moved-callback (function).
• init (function).
• physics-step (function).
• uninit (function).

Internals

• *default-max-contacts* (special variable).
• near-handler (function).

---

5.1.1 Ordinary functions

Function: body-add-force (body fx fy fz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-add-force-at-pos (body fx fy fz px py pz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-add-force-at-rel-pos (body fx fy fz px py pz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-add-rel-force (body fx fy fz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-add-rel-force-at-pos (body fx fy fz px py pz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-add-rel-force-at-rel-pos (body fx fy fz px py pz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-add-rel-torque (body fx fy fz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-add-torque (body fx fy fz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-create (world) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-destroy (world) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-disable (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-enable (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-angular-damping (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-angular-vel (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-auto-disable-angular-threshold (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-auto-disable-average-samples-count (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-auto-disable-flag (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-auto-disable-linear-threshold (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-auto-disable-steps (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-auto-disable-time (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-first-geom (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-force (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-linear-damping (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-linear-vel (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-next-geom (geom) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-position (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-quaternion (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-rotation (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-torque (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-get-world (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-is-enabled (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-is-kinematic (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-angular-damping (body scale) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-angular-vel (body x y z) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-auto-disable-angular-threshold (body angular-threshold) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-auto-disable-average-samples-count (body average-samples-count) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-auto-disable-defaults (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-auto-disable-flag (body auto-disable) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-auto-disable-linear-threshold (body linear-threshold) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-auto-disable-steps (body steps) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-auto-disable-time (body time) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-damping (body scale) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-dynamic (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-force (body x y z) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-kinematic (body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-linear-damping (body scale) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-linear-vel (body x y z) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-mass (body mass) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-max-angular-speed (body max-speed) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-moved-callback (body callback) ¶

Package

cl-ode.

Source

ode.lisp.

Function: body-set-position (body x y z) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-quaternion (body q) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-rotation (body r) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-set-torque (body x y z) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-vector-from-world (body px py pz result) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: body-vector-to-world (body px py pz result) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: close-ode () ¶

Package

cl-ode.

Source

bindings.lisp.

Function: collide (o1 o2 flags contact skip) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: create-box (space lx ly lz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: create-plane (space a b c d) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-clear-offset (geom) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-destroy (obj) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-get-body (geom) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-get-category-bits (geom) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-get-collide-bits (geom) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-get-position (geom) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-get-quaternion (geom result) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-get-rotation (geom) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-ray-get-closest-hit (ray) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-ray-get-length (ray) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-ray-set (ray px py pz dx dy dz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-ray-set-closest-hit (ray closesthit) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-ray-set-length (ray length) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-ray-set-params (ray first-contact backface-cull) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-set-body (geom body) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-set-category-bits (geom bits) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-set-collide-bits (geom bits) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-set-offset-position (geom x y z) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-set-offset-quaternion (geom q) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-set-offset-rotation (geom r) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-set-position (geom x y z) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-set-quaternion (geom q) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-set-rotation (geom r) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-sphere-get-radius (sphere) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-sphere-point-depth (sphere x y z) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: geom-sphere-set-radius (sphere radius) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: get-configuration () ¶

Package

cl-ode.

Source

bindings.lisp.

Function: hash-space-create (space) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: init () ¶

Package

cl-ode.

Source

ode.lisp.

Function: init-ode () ¶

Package

cl-ode.

Source

bindings.lisp.

Function: init-ode-2 (init-flags) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: joint-attach (joint body1 body2) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: joint-create-contact (world joint-group contact) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: joint-get-type (id) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: joint-group-create (max-size) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: joint-group-destroy (joint-group) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: joint-group-empty (jointgroup) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: mass-set-box (mass m lx ly lz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: mass-set-box-total (mass m lx ly lz) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: mass-set-capsule (m density direction radius length) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: mass-set-capsule-total (m density direction radius length) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: mass-set-cylinder (m density direction radius length) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: mass-set-cylinder-total (m density direction radius length) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: mass-set-sphere (m density radius) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: mass-set-sphere-total (m total-mass radius) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: mass-set-zero (mass) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: physics-step (world space) ¶

Package

cl-ode.

Source

ode.lisp.

Function: quad-tree-space-create (space center extents depth) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: rfrom-axis-and-angle (r ax ay az angle) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: space-collide (space data callback) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: space-destroy (space) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: uninit () ¶

Package

cl-ode.

Source

ode.lisp.

Function: world-create () ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-destroy (world) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-get-angular-damping-threshold (world) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-get-auto-disable-flag (world) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-get-linear-damping-threshold (world) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-quick-step (w stepsize) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-set-angular-damping (world scale) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-set-angular-damping-threshold (world threshold) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-set-auto-disable-flag (world auto-disable) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-set-cfm (world cfm) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-set-damping (world linear-scale angular-scale) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-set-erp (world erp) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-set-gravity (world x y z) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-set-linear-damping (world scale) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-set-linear-damping-threshold (world threshold) ¶

Package

cl-ode.

Source

bindings.lisp.

Function: world-step (world step_size) ¶

Package

cl-ode.

Source

bindings.lisp.

---

5.1.2 Generic functions

Generic Function: body-get-mass (this) ¶

Package

cl-ode.

Source

bindings.lisp.

Methods

Method: body-get-mass ((this body)) ¶

Generic Function: close-callback (o1 o2) ¶

Package

cl-ode.

Methods

Method: close-callback ((this geometry) (that ray)) ¶

Source

spring.lisp.

Method: close-callback :before ((this spring) (that geometry)) ¶

Source

spring.lisp.

Method: close-callback ((this ray) (that geometry)) ¶

Source

ray.lisp.

Method: close-callback ((o1 geometry) (o2 geometry)) ¶

Source

geometry.lisp.

Generic Reader: damping (object) ¶

Package

cl-ode.

Methods

Reader Method: damping ((spring spring)) ¶

automatically generated reader method

Source

spring.lisp.

Target Slot

damping.

Generic Writer: (setf damping) (object) ¶

Package

cl-ode.

Methods

Writer Method: (setf damping) ((spring spring)) ¶

automatically generated writer method

Source

spring.lisp.

Target Slot

damping.

Generic Function: geom-ray-get (this) ¶

Package

cl-ode.

Methods

Method: geom-ray-get ((this ray)) ¶

Source

bindings.lisp.

Generic Reader: springiness (object) ¶

Package

cl-ode.

Methods

Reader Method: springiness ((spring spring)) ¶

automatically generated reader method

Source

spring.lisp.

Target Slot

springiness.

Generic Writer: (setf springiness) (object) ¶

Package

cl-ode.

Methods

Writer Method: (setf springiness) ((spring spring)) ¶

automatically generated writer method

Source

spring.lisp.

Target Slot

springiness.

---

5.1.3 Standalone methods

Method: initialize-instance :after ((this body) &key) ¶

Source

body.lisp.

Method: initialize-instance :after ((this joint) &key) ¶

Source

joints.lisp.

Method: initialize-instance :after ((this pspace) &key) ¶

Source

spaces.lisp.

Method: initialize-instance ((this mass) &key len) ¶

Source

types.lisp.

Method: initialize-instance :after ((this joint-group) &key) ¶

Source

joints.lisp.

Method: initialize-instance :after ((this geometry) &key) ¶

Source

geometry.lisp.

Method: initialize-instance ((this contact) &key len) ¶

Source

types.lisp.

Method: initialize-instance ((this surface-parameters) &key len) ¶

Source

types.lisp.

Method: initialize-instance ((this contact-geometry) &key len) ¶

Source

types.lisp.

Method: initialize-instance :after ((this world) &key) ¶

Source

world.lisp.

Method: translate-from-foreign (pointer (type world-type)) ¶

Package

cffi.

Source

world.lisp.

Method: translate-from-foreign (pointer (type convex-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-from-foreign (pointer (type mass-type)) ¶

Package

cffi.

Source

types.lisp.

Method: translate-from-foreign (pointer (type sphere-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-from-foreign (pointer (type joint-group-type)) ¶

Package

cffi.

Source

joints.lisp.

Method: translate-from-foreign (pointer (type hash-space-type)) ¶

Package

cffi.

Source

spaces.lisp.

Method: translate-from-foreign (pointer (type box-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-from-foreign (pointer (type pspace-type)) ¶

Package

cffi.

Source

spaces.lisp.

Method: translate-from-foreign (pointer (type contact-joint-type)) ¶

Package

cffi.

Source

joints.lisp.

Method: translate-from-foreign (pointer (type joint-type)) ¶

Package

cffi.

Source

joints.lisp.

Method: translate-from-foreign (pointer (type capsule-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-from-foreign (pointer (type quad-space-type)) ¶

Package

cffi.

Source

spaces.lisp.

Method: translate-from-foreign (pointer (type geometry-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-from-foreign (pointer (type contact-geometry-type)) ¶

Package

cffi.

Source

types.lisp.

Method: translate-from-foreign (pointer (type cylinder-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-from-foreign (pointer (type contact-type)) ¶

Package

cffi.

Source

types.lisp.

Method: translate-from-foreign (pointer (type ray-type)) ¶

Package

cffi.

Source

ray.lisp.

Method: translate-from-foreign (pointer (type body-type)) ¶

Package

cffi.

Source

body.lisp.

Method: translate-from-foreign (pointer (type surface-parameters-type)) ¶

Package

cffi.

Source

types.lisp.

Method: translate-from-foreign (pointer (type plane-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-to-foreign ((this body) (type body-type)) ¶

Package

cffi.

Source

body.lisp.

Method: translate-to-foreign ((this cylinder) (type cylinder-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-to-foreign ((this joint) (type joint-type)) ¶

Package

cffi.

Source

joints.lisp.

Method: translate-to-foreign ((this world) (type world-type)) ¶

Package

cffi.

Source

world.lisp.

Method: translate-to-foreign ((val null) (type world-type)) ¶

Package

cffi.

Source

world.lisp.

Method: translate-to-foreign ((this convex) (type convex-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-to-foreign ((this pspace) (type pspace-type)) ¶

Package

cffi.

Source

spaces.lisp.

Method: translate-to-foreign ((this mass) (type mass-type)) ¶

Package

cffi.

Source

types.lisp.

Method: translate-to-foreign ((this sphere) (type sphere-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-to-foreign ((this joint-group) (type joint-group-type)) ¶

Package

cffi.

Source

joints.lisp.

Method: translate-to-foreign ((val null) (type joint-group-type)) ¶

Package

cffi.

Source

joints.lisp.

Method: translate-to-foreign ((this plane) (type plane-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-to-foreign ((this geometry) (type geometry-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-to-foreign ((this hash-space) (type hash-space-type)) ¶

Package

cffi.

Source

spaces.lisp.

Method: translate-to-foreign ((this box) (type box-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-to-foreign ((this contact) (type contact-type)) ¶

Package

cffi.

Source

types.lisp.

Method: translate-to-foreign ((val null) (type pspace-type)) ¶

Package

cffi.

Source

spaces.lisp.

Method: translate-to-foreign ((this contact-joint) (type contact-joint-type)) ¶

Package

cffi.

Source

joints.lisp.

Method: translate-to-foreign ((val null) (type joint-type)) ¶

Package

cffi.

Source

joints.lisp.

Method: translate-to-foreign ((this capsule) (type capsule-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-to-foreign ((this quad-space) (type quad-space-type)) ¶

Package

cffi.

Source

spaces.lisp.

Method: translate-to-foreign ((this surface-parameters) (type surface-parameters-type)) ¶

Package

cffi.

Source

types.lisp.

Method: translate-to-foreign ((this contact-geometry) (type contact-geometry-type)) ¶

Package

cffi.

Source

types.lisp.

Method: translate-to-foreign ((this ray) (type ray-type)) ¶

Package

cffi.

Source

ray.lisp.

Method: translate-to-foreign ((val null) (type geometry-type)) ¶

Package

cffi.

Source

geometry.lisp.

Method: translate-to-foreign ((val null) (type body-type)) ¶

Package

cffi.

Source

body.lisp.

---

5.1.4 Classes

Class: body ¶

Package

cl-ode.

Source

body.lisp.

Direct superclasses

proto-body.

Direct methods

• body-get-geoms.
• body-get-mass.
• body-get-transform.
• body-moved-callback.
• body-set-transform.
• destroy.
• initialize-instance.
• (setf move-handler).
• (setf move-handler).
• translate-to-foreign.

Direct slots

Slot: pointer ¶

Initform

(error (quote cl-ode::ode-error) "body object created without pointer!")

Initargs

:pointer

---

5.2.1 Constants

Constant: *is-double-precision?* ¶

Package

cl-ode.

Source

types.lisp.

---

5.2.2 Special variables

Special Variable: *default-max-contacts* ¶

Package

cl-ode.

Source

ode.lisp.

Special Variable: *object-hash* ¶

Package

cl-ode.

Source

types.lisp.

---

5.2.3 Macros

Macro: create-pointer-subclass (name id parent parent-id) ¶

Package

cl-ode.

Source

types.lisp.

Macro: create-pointer-type (name id &key destructor superclass) ¶

Package

cl-ode.

Source

types.lisp.

Macro: create-struct-class ((name id) &body members) ¶

Package

cl-ode.

Source

types.lisp.

Macro: defcfun-rename-function ((name &optional new-name export) &rest rest) ¶

Package

cl-ode.

Source

bindings.lisp.

Macro: infinity (&optional precision) ¶

Package

cl-ode.

Source

types.lisp.

Macro: struct-slot (name type slot) ¶

Package

cl-ode.

Source

types.lisp.

Macro: with-ode-object ((name value) &body body) ¶

Package

cl-ode.

Source

utils.lisp.

---