[ODE] C++

[Colin Reed]

Any chance of adding these functions to the codebase ?

/*----------------------------------------------------------------------------------*/
// Please add to include/ode/objects.h
//
void dBodyAddForceAtRelPos		(dBodyID, dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz);
void dBodyGetPointVel			(dBodyID, dReal px, dReal py, dReal pz, dVector3
result);

/*----------------------------------------------------------------------------------*/
// Please add to ode.cpp
//
void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz) {
	dAASSERT (b);
	b->facc[0] += fx;
	b->facc[1] += fy;
	b->facc[2] += fz;
	dVector3 prel,f,p;
	prel[0] = px;
	prel[1] = py;
	prel[2] = pz;
	prel[3] = 0;
	dMULTIPLY0_331 (p,b->R,prel);
	f[0] = fx;
	f[1] = fy;
	f[2] = fz;
	dCROSS (b->tacc,+=,p,f);
	}

void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz, dVector3
result) {
	dAASSERT (b);
	dVector3 prel;
	prel[0] = px - b->pos[0];
	prel[1] = py - b->pos[1];
	prel[2] = pz - b->pos[2];
	prel[3] = 0;

	result[0] = b->lvel[0];
	result[1] = b->lvel[1];
	result[2] = b->lvel[2];
	dCROSS (result,+=,b->avel,prel);
	}

/*----------------------------------------------------------------------------------*/

Thanks,
	Colin