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# mass.h

    00001 /*************************************************************************
    00002  *                                                                       *
    00003  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
    00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
    00005  *                                                                       *
    00006  * This library is free software; you can redistribute it and/or         *
    00007  * modify it under the terms of EITHER:                                  *
    00008  *   (1) The GNU Lesser General Public License as published by the Free  *
    00009  *       Software Foundation; either version 2.1 of the License, or (at  *
    00010  *       your option) any later version. The text of the GNU Lesser      *
    00011  *       General Public License is included with this library in the     *
    00012  *       file LICENSE.TXT.                                               *
    00013  *   (2) The BSD-style license that is included with this library in     *
    00014  *       the file LICENSE-BSD.TXT.                                       *
    00015  *                                                                       *
    00016  * This library is distributed in the hope that it will be useful,       *
    00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
    00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
    00020  *                                                                       *
    00021  *************************************************************************/
    00022
    00023 #ifndef _ODE_MASS_H_
    00024 #define _ODE_MASS_H_
    00025
    00026 #include <ode/common.h>
    00027
    00028 #ifdef __cplusplus
    00029 extern "C" {
    00030 #endif
    00031
    00032 struct dMass;
    00033 typedef struct dMass dMass;
    00034
    00043 ODE_API int dMassCheck(const dMass *m);
    00044
    00045 ODE_API void dMassSetZero (dMass *);
    00046
    00047 ODE_API void dMassSetParameters (dMass *, dReal themass,
    00048           dReal cgx, dReal cgy, dReal cgz,
    00049           dReal I11, dReal I22, dReal I33,
    00050           dReal I12, dReal I13, dReal I23);
    00051
    00052 ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius);
    00053 ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);
    00054
    00055 ODE_API void dMassSetCapsule (dMass *, dReal density, int direction,
    00056          dReal radius, dReal length);
    00057 ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction,
    00058          dReal radius, dReal length);
    00059
    00060 ODE_API void dMassSetCylinder (dMass *, dReal density, int direction,
    00061              dReal radius, dReal length);
    00062 ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
    00063              dReal radius, dReal length);
    00064
    00065 ODE_API void dMassSetBox (dMass *, dReal density,
    00066         dReal lx, dReal ly, dReal lz);
    00067 ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass,
    00068              dReal lx, dReal ly, dReal lz);
    00069
    00070 ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g);
    00071
    00072 ODE_API void dMassAdjust (dMass *, dReal newmass);
    00073
    00074 ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
    00075
    00076 ODE_API void dMassRotate (dMass *, const dMatrix3 R);
    00077
    00078 ODE_API void dMassAdd (dMass *a, const dMass *b);
    00079
    00080 // Backwards compatible API
    00081 #define dMassSetCappedCylinder dMassSetCapsule
    00082 #define dMassSetCappedCylinderTotal dMassSetCapsuleTotal
    00083
    00084
    00085 struct dMass {
    00086   dReal mass;
    00087   dVector4 c;
    00088   dMatrix3 I;
    00089
    00090 #ifdef __cplusplus
    00091   dMass()
    00092     { dMassSetZero (this); }
    00093   void setZero()
    00094     { dMassSetZero (this); }
    00095   void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
    00096             dReal I11, dReal I22, dReal I33,
    00097             dReal I12, dReal I13, dReal I23)
    00098     { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
    00099   void setSphere (dReal density, dReal radius)
    00100     { dMassSetSphere (this,density,radius); }
    00101   void setCapsule (dReal density, int direction, dReal a, dReal b)
    00102     { dMassSetCappedCylinder (this,density,direction,a,b); }
    00103   void setCappedCylinder (dReal density, int direction, dReal a, dReal b)
    00104     { setCapsule(density, direction, a, b); }
    00105   void setBox (dReal density, dReal lx, dReal ly, dReal lz)
    00106     { dMassSetBox (this,density,lx,ly,lz); }
    00107   void adjust (dReal newmass)
    00108     { dMassAdjust (this,newmass); }
    00109   void translate (dReal x, dReal y, dReal z)
    00110     { dMassTranslate (this,x,y,z); }
    00111   void rotate (const dMatrix3 R)
    00112     { dMassRotate (this,R); }
    00113   void add (const dMass *b)
    00114     { dMassAdd (this,b); }
    00115 #endif
    00116 };
    00117
    00118
    00119 #ifdef __cplusplus
    00120 }
    00121 #endif
    00122
    00123 #endif