opal Namespace Reference

The main namespace that contains everything in OPAL. More...

Classes
class	AccelerationSensor
class	AccelerationSensorData
	A data structure describing an AccelerationSensor. More...
class	AttractorMotor
class	AttractorMotorData
	A data structure describing an AttractorMotor. More...
class	Blueprint
class	BlueprintInstance
class	BoxShapeData
	A data structure describing a box Shape. More...
class	CapsuleShapeData
struct	CollisionEvent
class	CollisionEventHandler
struct	Force
struct	Material
class	EventHandler
class	GearedMotor
class	GearedMotorData
	A data structure describing a GearedMotor. More...
class	InclineSensor
class	InclineSensorData
	A data structure describing an InclineSensor. More...
class	Joint
class	JointBreakEventHandler
	A listener that gets notified when a particular Joint breaks. More...
struct	JointLimits
	A data structure describing the limits for a single Joint axis. More...
struct	JointAxis
	A data structure describing a single Joint axis. More...
class	JointData
	A data structure describing a Joint. More...
class	Mass
class	Matrix44r
	Generic 4 by 4 matrix. More...
class	MeshShapeData
class	Motor
class	MotorData
	A data structure describing a Motor. More...
class	MovementEvent
	Stores details about movement event. More...
class	MovementEventHandler
	Abstract interface. More...
class	ODEJoint
	The ODE implementation of the Joint class. More...
class	ODESimulator
	The ODE implementation of the Simulator class. More...
struct	GeomData
class	ODESolid
class	ODESpace
	The ODE implementation of the Space class. More...
class	PlaneShapeData
	A data structure describing a plane Shape. More...
class	Point3r
class	PostStepEventHandler
	A listener that gets notified when a simulation step has finished. More...
class	Quaternion
struct	RaycastResult
class	RaycastSensor
class	RaycastSensorData
	A data structure describing a RaycastSensor. More...
class	Rayr
class	Sensor
class	SensorData
	A data structure describing a Sensor. More...
class	ServoMotor
class	ServoMotorData
	A data structure describing a ServoMotor. More...
class	ShapeData
class	SimulatorData
	Various configuration data for Simulator. More...
class	Simulator
class	Singleton
	A convenient, templated singleton class. More...
class	Solid
class	SolidData
	A data structure describing a Solid. More...
class	Space
class	SphereShapeData
	A data structure describing a sphere Shape. More...
class	SpringMotor
class	SpringMotorData
	A data structure describing a SpringMotor. More...
class	ThrusterMotor
class	ThrusterMotorData
	A data structure describing a ThrusterMotor. More...
class	Vec3r
class	VelocityMotor
class	VelocityMotorData
	A data structure describing a VelocityMotor. More...
struct	VolumeQueryResult
class	VolumeSensor
class	VolumeSensorData
	A data structure describing a VolumeSensor. More...
Namespaces
namespace	blueprintManagerImpl
namespace	defaults
namespace	globals
namespace	loggerImpl
namespace	ode_hidden
Typedefs
typedef Singleton< blueprintManagerImpl::BlueprintManager >	BlueprintManager
typedef Singleton< loggerImpl::Logger >	Logger
typedef float	real
Enumerations
enum	ForceType {   LOCAL_FORCE, GLOBAL_FORCE, LOCAL_TORQUE, GLOBAL_TORQUE,   LOCAL_FORCE_AT_LOCAL_POS, LOCAL_FORCE_AT_GLOBAL_POS, GLOBAL_FORCE_AT_LOCAL_POS, GLOBAL_FORCE_AT_GLOBAL_POS }
enum	SolverAccuracyLevel {   SOLVER_ACCURACY_VERY_LOW, SOLVER_ACCURACY_LOW, SOLVER_ACCURACY_MEDIUM, SOLVER_ACCURACY_HIGH,   SOLVER_ACCURACY_VERY_HIGH }
enum	JointBreakMode { UNBREAKABLE_MODE, THRESHOLD_MODE, ACCUMULATED_MODE }
enum	JointType {   HINGE_JOINT, UNIVERSAL_JOINT, BALL_JOINT, SLIDER_JOINT,   WHEEL_JOINT, FIXED_JOINT }
enum	MotorType {   ATTRACTOR_MOTOR, GEARED_MOTOR, SERVO_MOTOR, SPRING_MOTOR,   THRUSTER_MOTOR, VELOCITY_MOTOR }
enum	SensorType { ACCELERATION_SENSOR, INCLINE_SENSOR, RAYCAST_SENSOR, VOLUME_SENSOR }
enum	ServoMotorMode { DESIRED_ANGLE_MODE, DESIRED_VEL_MODE }
enum	ShapeType {   BOX_SHAPE, SPHERE_SHAPE, CAPSULE_SHAPE, PLANE_SHAPE,   MESH_SHAPE }
enum	SpringMotorMode { LINEAR_MODE, ANGULAR_MODE, LINEAR_AND_ANGULAR_MODE }
Functions
OPAL_EXPORT_FUNCTION void OPAL_CALL	loadFile (Blueprint &bp, const string &filename)
Matrix44r	operator * (const Matrix44r &lhs, const Matrix44r &rhs)
Vec3r	operator * (const Matrix44r &m, const Vec3r &v)
Matrix44r	operator+ (const Matrix44r &lhs, const Matrix44r &rhs)
Matrix44r	operator- (const Matrix44r &lhs, const Matrix44r &rhs)
Point3r	operator * (const Matrix44r &m, const Point3r &p)
Rayr	operator * (const Matrix44r &m, const Rayr &r)
bool	inverse (Matrix44r &dest, const Matrix44r &src)
void	fastInverse (Matrix44r &dest, const Matrix44r &src)
std::ostream &	operator<< (std::ostream &o, const Matrix44r &m)
Matrix44r	operator * (real scalar, Matrix44r m)
OPAL_EXPORT_FUNCTION opal::Simulator *OPAL_CALL	createSimulator ()
OPAL_EXPORT_FUNCTION opal::Simulator *OPAL_CALL	createCustomSimulator (SimulatorData &data)
opal::Vec3r	toVec3r (dVector3 vector)
opal::Vec3r	toVec3r (const dReal *vector)
opal::Vec3r	toVec3r_RadToDeg (dVector3 vector)
opal::Vec3r	toVec3r_RadToDeg (const dReal *vector)
opal::Vec3r	toVec3r_DegToRad (dVector3 vector)
OPAL_EXPORT_FUNCTION void OPAL_CALL	loadFile (Blueprint &bp, const std::string &filename)
real	degToRad (real deg)
real	radToDeg (real rad)
real	abs (real value)
bool	areEqual (real x, real y)
real	normalizeDegrees (real degrees)
Point3r	operator+ (const Point3r &u, const Vec3r &v)
Point3r	operator- (const Point3r &u, const Vec3r &v)
Vec3r	operator- (const Point3r &u, const Point3r &v)
Point3r	operator * (const Point3r &v, real scalar)
Point3r	operator * (real scalar, const Point3r &v)
Point3r	operator/ (const Point3r &v, real scalar)
Point3r	operator- (const Point3r &p)
real	distance (const Point3r &p1, const Point3r &p2)
std::ostream &	operator<< (std::ostream &o, const Point3r &p)
Quaternion	operator+ (const Quaternion &q1, const Quaternion &q2)
Quaternion	operator- (const Quaternion &q1, const Quaternion &q2)
bool	operator== (const Quaternion &q1, const Quaternion &q2)
bool	operator!= (const Quaternion &q1, const Quaternion &q2)
Quaternion	operator * (const Quaternion &q, real scalar)
Quaternion	operator * (real scalar, const Quaternion &q)
std::ostream &	operator<< (std::ostream &o, const Quaternion &q)
bool	operator< (const RaycastResult &l, const RaycastResult &r)
std::ostream &	operator<< (std::ostream &o, const Rayr &r)
Vec3r	operator+ (const Vec3r &u, const Vec3r &v)
Vec3r	operator- (const Vec3r &u, const Vec3r &v)
Vec3r	operator * (const Vec3r &v, real scalar)
Vec3r	operator * (real scalar, const Vec3r &v)
Vec3r	operator/ (const Vec3r &v, real scalar)
Vec3r	operator% (const Vec3r &a, const Vec3r &b)
Vec3r	operator- (const Vec3r &v)
real	dot (const Vec3r &u, const Vec3r &v)
Vec3r	cross (const Vec3r &u, const Vec3r &v)
Vec3r	project (const Vec3r &u, const Vec3r &v)
Vec3r	projectPreNorm (const Vec3r &u, const Vec3r &v)
real	angleBetween (const Vec3r &u, const Vec3r &v)
real	angleBetweenPreNorm (const Vec3r &u, const Vec3r &v)
bool	areCollinear (const Vec3r &u, const Vec3r &v)
std::ostream &	operator<< (std::ostream &o, const Vec3r &v)

---

Detailed Description

The main namespace that contains everything in OPAL.

---

Typedef Documentation

typedef Singleton<blueprintManagerImpl::BlueprintManager> opal::BlueprintManager

Definition at line 183 of file BlueprintManager.h.

typedef Singleton<loggerImpl::Logger> opal::Logger

Definition at line 94 of file Logger.h.

typedef float opal::real

Definition at line 39 of file OpalMath.h.

---

Enumeration Type Documentation

enum opal::ForceType

Types of Forces. Used when creating a Force struct to designate how the Forces should be applied to a Solid. Enumerator: LOCAL_FORCE  Apply a force in a direction relative to the Solid's local coordinate system. GLOBAL_FORCE  Apply a force in a direction relative to the global coordinate system. LOCAL_TORQUE  Apply a torque with the axis specified relative to the Solid's local coordinate system. GLOBAL_TORQUE  Apply a torque with the axis specified relative to global coordinate system. LOCAL_FORCE_AT_LOCAL_POS  Apply a force at a position relative to the Solid's local coordinate system in a direction relative to the Solid's local coordinate system. LOCAL_FORCE_AT_GLOBAL_POS  Apply a force at a position relative to the global coordinate system in a direction relative to the Solid's local coordinate system. GLOBAL_FORCE_AT_LOCAL_POS  Apply a force at a position relative to the Solid's local coordinate system in a direction relative to the global coordinate system. GLOBAL_FORCE_AT_GLOBAL_POS  Apply a force at a position relative to the global coordinate system in a direction relative to the global coordinate system. Definition at line 56 of file Defines.h.

enum opal::JointBreakMode

Joints use different break modes to determine how they are damaged from stress. Enumerator: UNBREAKABLE_MODE  Joint can never break. THRESHOLD_MODE  Joint breaks when force/torque exceeds a threshold. ACCUMULATED_MODE  Joint breaks when enough damage is accumulated. Definition at line 188 of file Defines.h.

enum opal::JointType

The types of Joints currently available. Enumerator: HINGE_JOINT  Anchor: used Axis 0: rotational Axis 1: not used Axis 2: not used UNIVERSAL_JOINT  Anchor: used Axis 0: rotational Axis 1: rotational Axis 2: not used BALL_JOINT  Anchor: used Axis 0: rotational Axis 1: rotational (need not be set; calculated automatically) Axis 2: rotational SLIDER_JOINT  Anchor: not used Axis 0: linear Axis 1: not used Axis 2: not used WHEEL_JOINT  Anchor: used Axis 0: rotational ("steering axis") Axis 1: rotational ("wheel axis") Axis 2: not used FIXED_JOINT  Anchor: not used Axis 0: not used Axis 1: not used Axis 2: not used Definition at line 201 of file Defines.h.

enum opal::MotorType

The types of Motors currently available. Enumerator: ATTRACTOR_MOTOR  GEARED_MOTOR  SERVO_MOTOR  SPRING_MOTOR  THRUSTER_MOTOR  VELOCITY_MOTOR  Definition at line 36 of file MotorData.h.

enum opal::SensorType

The types of Sensors currently available. Enumerator: ACCELERATION_SENSOR  INCLINE_SENSOR  RAYCAST_SENSOR  VOLUME_SENSOR  Definition at line 38 of file SensorData.h.

enum opal::ServoMotorMode

The different ServoMotor modes of operation. Enumerator: DESIRED_ANGLE_MODE  The ServoMotor tries to achieve a desired angle for the Joint axis. DESIRED_VEL_MODE  The ServoMotor tries to achieve a desired velocity for the Joint axis. Definition at line 37 of file ServoMotorData.h.

enum opal::ShapeType

The types of Shapes currently available. Enumerator: BOX_SHAPE  SPHERE_SHAPE  CAPSULE_SHAPE  PLANE_SHAPE  MESH_SHAPE  Definition at line 38 of file ShapeData.h.

enum opal::SolverAccuracyLevel

Solver accuracy levels determine how the physics engine constraint solver is used (e.g. the number of iterations in an iterative solver). Enumerator: SOLVER_ACCURACY_VERY_LOW  SOLVER_ACCURACY_LOW  SOLVER_ACCURACY_MEDIUM  SOLVER_ACCURACY_HIGH  SOLVER_ACCURACY_VERY_HIGH  Definition at line 177 of file Defines.h.

enum opal::SpringMotorMode

The different SpringMotor modes of operation. Enumerator: LINEAR_MODE  Makes the Motor work to achieve a desired position. ANGULAR_MODE  Makes the Motor work to achieve a desired orientation. LINEAR_AND_ANGULAR_MODE  Makes the Motor work to achieve a desired position and orientation. Definition at line 37 of file SpringMotorData.h.

---

Function Documentation

real opal::abs (  real  value  )  [inline]

Returns the absolute value of a real number. Definition at line 65 of file OpalMath.h. Referenced by areEqual().

real opal::angleBetween (  const Vec3r &  u, const Vec3r &  v )  [inline]

Returns a positive angle between 0 and 180 degrees. Definition at line 185 of file Vec3r.h. References angleBetweenPreNorm(), and opal::Vec3r::normalize(). Referenced by opal::InclineSensor::getAngle().

real opal::angleBetweenPreNorm (  const Vec3r &  u, const Vec3r &  v )  [inline]

Given that the vectors 'u' and 'v' are already normalized, returns a positive angle between 0 and 180 degrees. Definition at line 194 of file Vec3r.h. References dot(), and radToDeg(). Referenced by angleBetween().

bool opal::areCollinear (  const Vec3r &  u, const Vec3r &  v )  [inline]

Returns true if the two vectors are roughly collinear. Definition at line 217 of file Vec3r.h. References areEqual(), opal::Vec3r::normalize(), opal::Vec3r::x, opal::Vec3r::y, and opal::Vec3r::z. Referenced by opal::InclineSensor::getAngle(), and opal::InclineSensor::setupInternalVectors().

bool opal::areEqual (  real  x, real  y )  [inline]

Returns true if the two values are equal within some tolerance, using a combination of absolute and relative (epsilon is scaled by the magnitudes of the values) tolerance, depending on whether both values are both less than 1. See Christer Ericson's GDC 2005 presentation: http://realtimecollisiondetection.net/pubs/GDC05_Ericson_Numerical_Robustness_for_Geometric_Calculations.ppt Definition at line 76 of file OpalMath.h. References abs(), and opal::globals::OPAL_EPSILON. Referenced by opal::Solid::addForce(), areCollinear(), opal::Matrix44r::getQuaternion(), inverse(), opal::ODESolid::isInertiaNonSymmetric(), opal::Vec3r::operator!=(), operator!=(), opal::Vec3r::operator==(), and operator==().

OPAL_EXPORT_FUNCTION Simulator *OPAL_CALL opal::createCustomSimulator (  opal::SimulatorData &  data  )

Creates a custom Simulator. Definition at line 52 of file ODESimulator.cpp. References opal::ODESimulator::initData(), and OPAL_LOGGER.

OPAL_EXPORT_FUNCTION Simulator *OPAL_CALL opal::createSimulator (   )

Creates a Simulator. Definition at line 36 of file ODESimulator.cpp. References opal::ODESimulator::initData(), and OPAL_LOGGER.

Vec3r opal::cross (  const Vec3r &  u, const Vec3r &  v )  [inline]

Definition at line 163 of file Vec3r.h. Referenced by opal::InclineSensor::getAngle(), and opal::InclineSensor::setupInternalVectors().

real opal::degToRad (  real  deg  )  [inline]

Converts a value from degrees to radians. Definition at line 51 of file OpalMath.h. References opal::globals::OPAL_PI. Referenced by opal::Matrix44r::makeRotation(), opal::ODESolid::setGlobalAngularVel(), opal::ODEJoint::setLimitRange(), opal::ODEJoint::setLimitsEnabled(), and toVec3r_DegToRad().

real opal::distance (  const Point3r &  p1, const Point3r &  p2 )  [inline]

Returns the Euclidean distance between two points. Definition at line 210 of file Point3r.h. References opal::Point3r::x, opal::Point3r::y, and opal::Point3r::z. Referenced by opal::RaycastSensor::fireRay().

real opal::dot (  const Vec3r &  u, const Vec3r &  v )  [inline]

Definition at line 158 of file Vec3r.h. References opal::Vec3r::x, opal::Vec3r::y, and opal::Vec3r::z. Referenced by angleBetweenPreNorm(), opal::Vec3r::length(), opal::Vec3r::lengthSquared(), and projectPreNorm().

void opal::fastInverse (  Matrix44r &  dest, const Matrix44r &  src )  [inline]

Fast invert function for affine transformations only. Definition at line 609 of file Matrix44r.h. Referenced by opal::Matrix44r::fastInvert().

bool opal::inverse (  Matrix44r &  dest, const Matrix44r &  src )  [inline]

Inverts src, and puts the result into dest, and returns true. If no valid inverse is found, returns false and leaves dest unchanged. Definition at line 598 of file Matrix44r.h. References areEqual(), and opal::Matrix44r::determinant(). Referenced by opal::Matrix44r::invert().

OPAL_EXPORT_FUNCTION void OPAL_CALL opal::loadFile (  Blueprint &  bp, const std::string &  filename )

Loads a Blueprint from an OPAL XML file.

OPAL_EXPORT_FUNCTION void OPAL_CALL opal::loadFile (  Blueprint &  bp, const string &  filename )

Definition at line 56 of file BlueprintManager.cpp. References opal::Singleton< TYPE >::instance().

real opal::normalizeDegrees (  real  degrees  )  [inline]

translates degree angle to (-180, 180] Definition at line 101 of file OpalMath.h. Referenced by opal::Matrix44r::getEulerXYZ().

Vec3r opal::operator * (  real  scalar, const Vec3r &  v )  [inline]

Definition at line 142 of file Vec3r.h. References opal::Vec3r::x, opal::Vec3r::y, and opal::Vec3r::z.

Vec3r opal::operator * (  const Vec3r &  v, real  scalar )  [inline]

Definition at line 137 of file Vec3r.h. References opal::Vec3r::x, opal::Vec3r::y, and opal::Vec3r::z.

OPAL_DECL Quaternion opal::operator * (  real  scalar, const Quaternion &  q )

Definition at line 194 of file Quaternion.cpp. References opal::Quaternion::w, opal::Quaternion::x, opal::Quaternion::y, and opal::Quaternion::z.

OPAL_DECL Quaternion opal::operator * (  const Quaternion &  q, real  scalar )

Definition at line 189 of file Quaternion.cpp. References opal::Quaternion::w, opal::Quaternion::x, opal::Quaternion::y, and opal::Quaternion::z.

Point3r opal::operator * (  real  scalar, const Point3r &  v )  [inline]

Definition at line 200 of file Point3r.h. References opal::Point3r::x, opal::Point3r::y, and opal::Point3r::z.

Point3r opal::operator * (  const Point3r &  v, real  scalar )  [inline]

Definition at line 195 of file Point3r.h. References opal::Point3r::x, opal::Point3r::y, and opal::Point3r::z.

Matrix44r opal::operator * (  real  scalar, Matrix44r  m )  [inline]

Definition at line 684 of file Matrix44r.h. References opal::Matrix44r::mData.

Rayr opal::operator * (  const Matrix44r &  m, const Rayr &  r )  [inline]

Definition at line 744 of file Matrix44r.h. References opal::Rayr::getDir(), and opal::Rayr::getOrigin().

Point3r opal::operator * (  const Matrix44r &  m, const Point3r &  p )  [inline]

Definition at line 716 of file Matrix44r.h.

Vec3r opal::operator * (  const Matrix44r &  m, const Vec3r &  v )  [inline]

Definition at line 709 of file Matrix44r.h.

Matrix44r opal::operator * (  const Matrix44r &  lhs, const Matrix44r &  rhs )  [inline]

Definition at line 694 of file Matrix44r.h. References opal::Matrix44r::makeZero().

OPAL_DECL bool opal::operator!= (  const Quaternion &  q1, const Quaternion &  q2 )

Definition at line 180 of file Quaternion.cpp. References areEqual(), opal::Quaternion::w, opal::Quaternion::x, opal::Quaternion::y, and opal::Quaternion::z.

Vec3r opal::operator% (  const Vec3r &  a, const Vec3r &  b )  [inline]

Definition at line 152 of file Vec3r.h. References opal::Vec3r::x, opal::Vec3r::y, and opal::Vec3r::z.

Vec3r opal::operator+ (  const Vec3r &  u, const Vec3r &  v )  [inline]

Definition at line 127 of file Vec3r.h. References opal::Vec3r::x, opal::Vec3r::y, and opal::Vec3r::z.

OPAL_DECL Quaternion opal::operator+ (  const Quaternion &  q1, const Quaternion &  q2 )

Definition at line 161 of file Quaternion.cpp. References opal::Quaternion::w, opal::Quaternion::x, opal::Quaternion::y, and opal::Quaternion::z.

Point3r opal::operator+ (  const Point3r &  u, const Vec3r &  v )  [inline]

Definition at line 180 of file Point3r.h. References opal::Vec3r::x, opal::Point3r::x, opal::Vec3r::y, opal::Point3r::y, opal::Vec3r::z, and opal::Point3r::z.

Matrix44r opal::operator+ (  const Matrix44r &  lhs, const Matrix44r &  rhs )  [inline]

Definition at line 724 of file Matrix44r.h.

Vec3r opal::operator- (  const Vec3r &  v  )  [inline]

Definition at line 168 of file Vec3r.h.

Vec3r opal::operator- (  const Vec3r &  u, const Vec3r &  v )  [inline]

Definition at line 132 of file Vec3r.h. References opal::Vec3r::x, opal::Vec3r::y, and opal::Vec3r::z.

OPAL_DECL Quaternion opal::operator- (  const Quaternion &  q1, const Quaternion &  q2 )

Definition at line 166 of file Quaternion.cpp. References opal::Quaternion::w, opal::Quaternion::x, opal::Quaternion::y, and opal::Quaternion::z.

Point3r opal::operator- (  const Point3r &  p  )  [inline]

Definition at line 216 of file Point3r.h.

Vec3r opal::operator- (  const Point3r &  u, const Point3r &  v )  [inline]

Definition at line 190 of file Point3r.h. References opal::Point3r::x, opal::Point3r::y, and opal::Point3r::z.

Point3r opal::operator- (  const Point3r &  u, const Vec3r &  v )  [inline]

Definition at line 185 of file Point3r.h. References opal::Vec3r::x, opal::Point3r::x, opal::Vec3r::y, opal::Point3r::y, opal::Vec3r::z, and opal::Point3r::z.

Matrix44r opal::operator- (  const Matrix44r &  lhs, const Matrix44r &  rhs )  [inline]

Definition at line 734 of file Matrix44r.h.

Vec3r opal::operator/ (  const Vec3r &  v, real  scalar )  [inline]

Definition at line 147 of file Vec3r.h. References opal::Vec3r::x, opal::Vec3r::y, and opal::Vec3r::z.

Point3r opal::operator/ (  const Point3r &  v, real  scalar )  [inline]

Definition at line 205 of file Point3r.h. References opal::Point3r::x, opal::Point3r::y, and opal::Point3r::z.

bool opal::operator< (  const RaycastResult &  l, const RaycastResult &  r )

Compares RaycastResults by distance. Definition at line 223 of file RaycastSensor.cpp. References opal::RaycastResult::distance.

std::ostream & opal::operator<< (  std::ostream &  o, const Vec3r &  v )  [inline]

Prints the Vec3r to the given output stream. Definition at line 212 of file Vec3r.h. References opal::Vec3r::x, opal::Vec3r::y, and opal::Vec3r::z.

std::ostream & opal::operator<< (  std::ostream &  o, const Rayr &  r )  [inline]

Prints the Rayr to the given output stream. Definition at line 109 of file Rayr.h. References opal::Rayr::getDir(), and opal::Rayr::getOrigin().

OPAL_DECL std::ostream & opal::operator<< (  std::ostream &  o, const Quaternion &  q )

Prints the Quaternion to the given output stream. Definition at line 199 of file Quaternion.cpp. References opal::Quaternion::w, opal::Quaternion::x, opal::Quaternion::y, and opal::Quaternion::z.

std::ostream & opal::operator<< (  std::ostream &  o, const Point3r &  p )  [inline]

Prints the Point3r to the given output stream. Definition at line 221 of file Point3r.h. References opal::Point3r::x, opal::Point3r::y, and opal::Point3r::z.

std::ostream & opal::operator<< (  std::ostream &  o, const Matrix44r &  m )  [inline]

Prints the Matrix44r to the given output stream. Definition at line 750 of file Matrix44r.h.

OPAL_DECL bool opal::operator== (  const Quaternion &  q1, const Quaternion &  q2 )

Definition at line 171 of file Quaternion.cpp. References areEqual(), opal::Quaternion::w, opal::Quaternion::x, opal::Quaternion::y, and opal::Quaternion::z.

Vec3r opal::project (  const Vec3r &  u, const Vec3r &  v )  [inline]

Returns the projection of 'v' onto 'u'. Definition at line 173 of file Vec3r.h. References opal::Vec3r::normalize(), and projectPreNorm(). Referenced by opal::InclineSensor::getAngle(), and opal::VelocityMotor::internal_update().

Vec3r opal::projectPreNorm (  const Vec3r &  u, const Vec3r &  v )  [inline]

Given that the vector 'u' is already a unit vector, returns the projection of v onto u. Definition at line 180 of file Vec3r.h. References dot(). Referenced by project().

real opal::radToDeg (  real  rad  )  [inline]

Converts a value from radians to degrees. Definition at line 58 of file OpalMath.h. References opal::globals::OPAL_PI. Referenced by angleBetweenPreNorm(), opal::ODEJoint::getAngle(), opal::Quaternion::getAngleAxis(), opal::Matrix44r::getEulerXYZ(), opal::Quaternion::getPitch(), opal::Quaternion::getRoll(), opal::ODEJoint::getVelocity(), opal::Quaternion::getYaw(), and toVec3r_RadToDeg().

opal::Vec3r opal::toVec3r (  const dReal *  vector  )

Definition at line 46 of file ODETools.h.

opal::Vec3r opal::toVec3r (  dVector3  vector  )

Definition at line 36 of file ODETools.h. Referenced by opal::ODESolid::getGlobalLinearVel(), opal::ODESolid::getGlobalLinearVelAtLocalPos(), opal::ODESolid::getLocalLinearVel(), and opal::ODESolid::getLocalLinearVelAtLocalPos().

opal::Vec3r opal::toVec3r_DegToRad (  dVector3  vector  )

Definition at line 76 of file ODETools.h. References degToRad(). Referenced by opal::ODESolid::setLocalAngularVel().

opal::Vec3r opal::toVec3r_RadToDeg (  const dReal *  vector  )

Definition at line 66 of file ODETools.h. References radToDeg().

opal::Vec3r opal::toVec3r_RadToDeg (  dVector3  vector  )

Definition at line 56 of file ODETools.h. References radToDeg(). Referenced by opal::ODESolid::getGlobalAngularVel(), and opal::ODESolid::getLocalAngularVel().

---