Function dBodyCreate

3rd_party/Src/ode/ode/src/ode.cpp:251–282

}

dxBody *dBodyCreate (dxWorld *w)
{
  //dAASSERT (w);
  dxBody *b = new dxBody;
  initObject (b,w);
  b->firstjoint = 0;
  b->flags = 0;
  b->geom = 0;
  dMassSetParameters (&b->mass,1,0,0,0,1,1,1,0,0,0);
  dSetZero (b->invI,4*3);
  b->invI[0] = 1;
  b->invI[5] = 1;
  b->invI[10] = 1;
  b->invMass = 1;
  dSetZero (b->pos,4);
  dSetZero (b->q,4);
  b->q[0] = 1;
  dRSetIdentity (b->R);
  dSetZero (b->lvel,4);
  dSetZero (b->avel,4);
  dSetZero (b->facc,4);
  dSetZero (b->tacc,4);
  dSetZero (b->finite_rot_axis,4);
  if (w)	dWorldAddBody(w,b);

  // set auto-disable parameters
  dBodySetAutoDisableDefaults (b);	// must do this after adding to world
//  b->adis_stepsleft = b->adis.idle_steps;
//  b->adis_timeleft	= b->adis.idle_time;

  return b;
}

void dBodyDestroy (dxBody *b)
{