From 0fc46fc9590912bf6925c899edd02d7a2cdf5f79 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 04:28:53 +0000 Subject: adding ode source to /libraries --- "libraries/ode-0.9\\/docs/mass_8h-source.html" | 137 +++++++++++++++++++++++++ 1 file changed, 137 insertions(+) create mode 100755 "libraries/ode-0.9\\/docs/mass_8h-source.html" (limited to 'libraries/ode-0.9\/docs/mass_8h-source.html') diff --git "a/libraries/ode-0.9\\/docs/mass_8h-source.html" "b/libraries/ode-0.9\\/docs/mass_8h-source.html" new file mode 100755 index 0000000..145605b --- /dev/null +++ "b/libraries/ode-0.9\\/docs/mass_8h-source.html" @@ -0,0 +1,137 @@ + + +Open Dynamics Engine: mass.h Source File + + + + +
+ +
+

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 dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g);
+00073 
+00074 ODE_API void dMassAdjust (dMass *, dReal newmass);
+00075 
+00076 ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
+00077 
+00078 ODE_API void dMassRotate (dMass *, const dMatrix3 R);
+00079 
+00080 ODE_API void dMassAdd (dMass *a, const dMass *b);
+00081 
+00082 // Backwards compatible API
+00083 #define dMassSetCappedCylinder dMassSetCapsule
+00084 #define dMassSetCappedCylinderTotal dMassSetCapsuleTotal
+00085 
+00086 
+00087 struct dMass {
+00088   dReal mass;
+00089   dVector4 c;
+00090   dMatrix3 I;
+00091 
+00092 #ifdef __cplusplus
+00093   dMass()
+00094     { dMassSetZero (this); }
+00095   void setZero()
+00096     { dMassSetZero (this); }
+00097   void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
+00098             dReal I11, dReal I22, dReal I33,
+00099             dReal I12, dReal I13, dReal I23)
+00100     { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
+00101   void setSphere (dReal density, dReal radius)
+00102     { dMassSetSphere (this,density,radius); }
+00103   void setCapsule (dReal density, int direction, dReal a, dReal b)
+00104     { dMassSetCappedCylinder (this,density,direction,a,b); }
+00105   void setCappedCylinder (dReal density, int direction, dReal a, dReal b)
+00106     { setCapsule(density, direction, a, b); }
+00107   void setBox (dReal density, dReal lx, dReal ly, dReal lz)
+00108     { dMassSetBox (this,density,lx,ly,lz); }
+00109   void adjust (dReal newmass)
+00110     { dMassAdjust (this,newmass); }
+00111   void translate (dReal x, dReal y, dReal z)
+00112     { dMassTranslate (this,x,y,z); }
+00113   void rotate (const dMatrix3 R)
+00114     { dMassRotate (this,R); }
+00115   void add (const dMass *b)
+00116     { dMassAdd (this,b); }
+00117 #endif
+00118 };
+00119 
+00120 
+00121 #ifdef __cplusplus
+00122 }
+00123 #endif
+00124 
+00125 #endif
+
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