Dear All,
In order to construct the Robotic Arm/Skeleton in Pascal wrapper I use pascal wrapper created by Stucuk in this thread http://newtondynamics.com/forum/viewtopic.php?f=9&t=7395&p=58865&hilit=official+pascal+header#p58865 I downloaded the newton_pas.rar file and unzipped it, but it didn't contain any dynamics library so how am I supposed to use it without compiled dll?
And does that pascal wrapper contain all the functions, structures etc.. which exists in original Newton 3.13 framework to construct the robotic arm/skeleton ? Because quick search in code reveals that I have only those functions listed below which includes skeleton functionality, will those be enough to do it?
function NewtonSkeletonContainerCreate(world : NewtonWorld; rootBone : NewtonBody; onDestroyCallback : NewtonSkeletontDestructor) : NewtonSkeletonContainer; cdecl; external NEWTON_API;
procedure NewtonSkeletonContainerDelete(skeleton : NewtonSkeletonContainer); cdecl; external NEWTON_API;
function NewtonSkeletonGetSolverMode(skeleton : NewtonSkeletonContainer) : Integer; cdecl; external NEWTON_API;
procedure NewtonSkeletonSetSolverMode(skeleton : NewtonSkeletonContainer; hardJointMotors : Integer); cdecl; external NEWTON_API;
procedure NewtonSkeletonContainerAttachJointArray(skeleton : NewtonSkeletonContainer; jointCount : Integer; jointArray : NewtonJoint); cdecl; external NEWTON_API;
function NewtonSkeletonContainerAttachBone(skeleton : NewtonSkeletonContainer; childBone : NewtonBody; parentBone : NewtonBody) : Pointer; cdecl; external NEWTON_API;
procedure NewtonSkeletonContainerDetachBone(skeleton : NewtonSkeletonContainer; bone : Pointer); cdecl; external NEWTON_API;
procedure NewtonSkeletonContainerFinalize(skeleton : NewtonSkeletonContainer); cdecl; external NEWTON_API;
function NewtonSkeletonContainerGetRoot(skeleton : NewtonSkeletonContainer) : Pointer; cdecl; external NEWTON_API;
function NewtonSkeletonContainerGetParent(skeleton : NewtonSkeletonContainer; node : Pointer) : Pointer; cdecl; external NEWTON_API;
function NewtonSkeletonContainerFirstChild(skeleton : NewtonSkeletonContainer; parent : Pointer) : Pointer; cdecl; external NEWTON_API;
function NewtonSkeletonContainerNextSibling(skeleton : NewtonSkeletonContainer; sibling : Pointer) : Pointer; cdecl; external NEWTON_API;
function NewtonSkeletonContainerGetBodyFromNode(skeleton : NewtonSkeletonContainer; node : Pointer) : NewtonBody; cdecl; external NEWTON_API;
function NewtonSkeletonContainerGetParentJointFromNode(skeleton : NewtonSkeletonContainer; node : Pointer) : NewtonJoint; cdecl; external NEWTON_API;