/[cells]/cells-ode/ode-compat.lisp
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Contents of /cells-ode/ode-compat.lisp

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Revision 1.3 - (show annotations)
Sun Jun 1 20:26:49 2008 UTC (5 years, 10 months ago) by phildebrandt
Branch: MAIN
CVS Tags: HEAD
Changes since 1.2: +17 -0 lines
added license
1 #|
2
3 Cells-ODE -- A cells driven interface to cl-ode
4
5 Copyright (C) 2008 by Peter Hildebrandt
6
7 This library is free software; you can redistribute it and/or
8 modify it under the terms of the Lisp Lesser GNU Public License
9 (http://opensource.franz.com/preamble.html), known as the LLGPL.
10
11 This library is distributed WITHOUT ANY WARRANTY; without even
12 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
13
14 See the Lisp Lesser GNU Public License for more details.
15
16 |#
17
18
19 ;;; this is to correct typos and inconsistencies in cl-ode
20
21 (in-package :ode)
22
23 (defmacro with-symbol-export (&body body)
24 `(progn
25 ,@body
26 (ukt:eval-now!
27 (export ',(mapcar #'second body)))))
28
29
30 ;;; joint parameters
31
32 (with-symbol-export
33 (defconstant +param-f-max-2+ ode:+param-fmax-2+)
34 (defconstant +param-f-max-3+ ode:+param-fmax-3+)
35 (defconstant +param-vel+ ode:+paramv-el+)
36 (defconstant +param-hi-stop-2+ ode:+param-histop-2+)
37 (defconstant +param-lo-stop-2+ 256)
38 (defconstant +param-stop-cfm+ ode:+param-topcfm+)
39 (defconstant +param-fudge-factor-2+ ode:+param-fudgefactor-2+)
40 (defconstant +param-suspension-cfm-2+ ode:+param-suspension-cfm2+)
41 (defconstant +param-suspension-erp-2+ ode:+param-suspension-erp2+))
42
43
44 ;;; contact
45
46 (with-symbol-export
47 (defconstant +contact-bounce+ ode:+contact-bounce))
48
49 ;;; hinge2
50
51 (with-symbol-export
52 (define-symbol-macro joint-set-hinge2-axis1 ode:joint-set-hinge2axis1)
53 (define-symbol-macro joint-set-hinge2-axis2 ode:joint-set-hinge2axis2)
54 (define-symbol-macro joint-set-hinge2-param ode:joint-set-hinge2param)
55 (define-symbol-macro joint-set-hinge2-anchor ode:joint-set-hinge2anchor)
56
57 (define-symbol-macro joint-get-hinge2-anchor2 ode:joint-get-hinge2anchor2)
58 (define-symbol-macro joint-get-hinge2-axis1 ode:joint-get-hinge2axis1)
59 (define-symbol-macro joint-get-hinge2-param ode:joint-get-hinge2param)
60 (define-symbol-macro joint-get-hinge2-anchor ode:joint-get-hinge2anchor)
61 (define-symbol-macro joint-get-hinge2-angle1 ode:joint-get-hinge2angle1)
62 (define-symbol-macro joint-get-hinge2-angle1rate ode:joint-get-hinge2angle1rate)
63 (define-symbol-macro joint-get-hinge2-angle2rate ode:joint-get-hinge2angle2rate))

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