IoObject *IoODEBox_lengths(IoODEBox *self, IoObject *locals, IoMessage *m)
{
dVector3 lengths;
IoODEBox_assertHasBoxId(self, locals, m);
dGeomBoxGetLengths(GEOMID, lengths);
return IoSeq_newWithODEPoint(IOSTATE, lengths);
}
IoObject *IoODEJoint_getVector3(IoODEJoint *self, IoObject *locals, IoMessage *m, IoODEJointGetVector3Func func)
{
dVector3 anchor;
IoODEJoint_assertValidJoint(self, locals, m);
func(JOINTID, anchor);
return IoSeq_newWithODEPoint(IOSTATE, anchor);
}
IoObject *IoODEBody_linearVelocity(IoODEBody *self, IoObject *locals, IoMessage *m)
{
IoODEBody_assertValidBody(self, locals, m);
return IoSeq_newWithODEPoint(IOSTATE, dBodyGetLinearVel(BODYID));
}
IoObject *IoODEBody_torque(IoODEBody *self, IoObject *locals, IoMessage *m)
{
IoODEBody_assertValidBody(self, locals, m);
return IoSeq_newWithODEPoint(IOSTATE, dBodyGetTorque(BODYID));
}
