ODE Physics Engine
/Manager/
OdeManagerCreate();
OdeManagerDestroy();
OdeManagerStep(delta);
OdeManagerGetNumContactJoints();
OdeManagerSetGravity(x,y,z);
OdeManagerSetSolver(OdeSolverMethod);
OdeManagerSetIterations(iterations);
OdeManagerSetMaxContacts(maxcontacts);
OdeManagerSetVisible(mode);
OdeManagerSetGeomColor(color);
/World/
OdeWorldSetAutoDisableFlag(flag);
OdeWorldSetAutoDisableLinearThreshold(velocity);
OdeWorldSetAutoDisableAngularThreshold(velocity);
OdeWorldSetAutoDisableSteps(steps);
OdeWorldSetAutoDisableTime(time);
/Static/
OdeStaticCreate(object);
OdeStaticGetContactCount(object);
OdeStaticGetContact(object,index);
/Dynamic/
OdeDynamicCreate(object);
OdeDynamicAlignObject(object);
OdeDynamicEnable(object,mode);
OdeDynamicCalibrateCenterOfMass(object);
OdeDynamicAddForce(object,x,y,z);
OdeDynamicAddForceAtPos(object,x,y,z,px,py,pz);
OdeDynamicAddForceAtRelPos(object,x,y,z,px,py,pz);
OdeDynamicAddRelForce(object,x,y,z);
OdeDynamicAddRelForceAtPos(object,x,y,z,px,py,pz);
OdeDynamicAddRelForceAtRelPos(object,x,y,z,px,py,pz);
OdeDynamicAddTorque(object,x,y,z);
OdeDynamicAddRelTorque(object,x,y,z);
OdeDynamicSetAutoDisableFlag(object,flag);
OdeDynamicSetAutoDisableLinearThreshold(object,velocity);
OdeDynamicSetAutoDisableAngularThreshold(object,flag);
OdeDynamicSetAutoDisableSteps(object,steps);
OdeDynamicSetAutoDisableTime(object,time);
OdeDynamicGetContactCount(object);
OdeDynamicGetContact(object,index);
/Surface/
OdeSurfaceSetRollingFrictionCoeff(object,rfc);
OdeSurfaceEnableRollingFrictionCoeff(object,mode);
OdeSurfaceSetMode(object,csMu2,csFDir1,csBounce,csSoftERP,csSoftCFM,csMotion1,csMotion2,csSlip1,csSlip2);
OdeSurfaceSetMu(object,Mu);
OdeSurfaceSetMu2(object,Mu2);
OdeSurfaceSetBounce(object,bounce);
OdeSurfaceSetBounceVel(object,bounceVel);
OdeSurfaceSetSoftERP(object,SoftErp);
OdeSurfaceSetSoftCFM(object,SoftCFM);
OdeSurfaceSetMotion1(object,motion);
OdeSurfaceSetMotion2(object,motion);
OdeSurfaceSetSlip1(object,slip);
OdeSurfaceSetSlip2(object,slip);
/Shapes/
OdeAddBox(object,width,height,depth);
OdeAddCapsule(object,length,radius);
OdeAddCone(object,length,radius);
OdeAddCylinder(object,length,radius);
OdeAddPlane(object);
OdeAddSphere(object,radius);
OdeAddTriMesh(freeform);
/Joints/
OdeAddJointBall();
OdeAddJointFixed();
OdeAddJointHinge();
OdeAddJointHinge2();
OdeAddJointSlider();
OdeAddJointUniversal();
OdeJointSetObjects(joint,object,object);
OdeJointEnable(joint,mode);
OdeJointInitialize(joint);
OdeJointSetAnchor(joint,x,y,z);
OdeJointSetAxis1(joint,x,y,z);
OdeJointSetAxis2(joint,x,y,z);
OdeJointSetBounce(joint,axis,bounce);
OdeJointSetCFM(joint,axis,CFM);
OdeJointSetFMax(joint,axis,FMax);
OdeJointSetFudgeFactor(joint,axis,FudgeFactor);
OdeJointSetHiStop(joint,axis,HiStop);
OdeJointSetLoStop(joint,axis,LoStop);
OdeJointSetStopCFM(joint,axis,StopCFM);
OdeJointSetStopERP(jont,axis,StopERP);
OdeJointSetVel(joint,axis,vel);