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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
#ifndef _ODE_MASS_H_
#define _ODE_MASS_H_
#include <ode/common.h>
#ifdef __cplusplus
extern "C" {
#endif
struct dMass;
typedef struct dMass dMass;
/**
* Check if a mass structure has valid value.
* The function check if the mass and innertia matrix are positive definits
*
* @param m A mass structure to check
*
* @return 1 if both codition are met
*/
ODE_API int dMassCheck(const dMass *m);
ODE_API void dMassSetZero (dMass *);
ODE_API void dMassSetParameters (dMass *, dReal themass,
dReal cgx, dReal cgy, dReal cgz,
dReal I11, dReal I22, dReal I33,
dReal I12, dReal I13, dReal I23);
ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius);
ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);
ODE_API void dMassSetCapsule (dMass *, dReal density, int direction,
dReal radius, dReal length);
ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction,
dReal radius, dReal length);
ODE_API void dMassSetCylinder (dMass *, dReal density, int direction,
dReal radius, dReal length);
ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
dReal radius, dReal length);
ODE_API void dMassSetBox (dMass *, dReal density,
dReal lx, dReal ly, dReal lz);
ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass,
dReal lx, dReal ly, dReal lz);
ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g);
ODE_API void dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g);
ODE_API void dMassAdjust (dMass *, dReal newmass);
ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
ODE_API void dMassRotate (dMass *, const dMatrix3 R);
ODE_API void dMassAdd (dMass *a, const dMass *b);
// Backwards compatible API
#define dMassSetCappedCylinder dMassSetCapsule
#define dMassSetCappedCylinderTotal dMassSetCapsuleTotal
struct dMass {
dReal mass;
dVector4 c;
dMatrix3 I;
#ifdef __cplusplus
dMass()
{ dMassSetZero (this); }
void setZero()
{ dMassSetZero (this); }
void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
dReal I11, dReal I22, dReal I33,
dReal I12, dReal I13, dReal I23)
{ dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
void setSphere (dReal density, dReal radius)
{ dMassSetSphere (this,density,radius); }
void setCapsule (dReal density, int direction, dReal a, dReal b)
{ dMassSetCappedCylinder (this,density,direction,a,b); }
void setCappedCylinder (dReal density, int direction, dReal a, dReal b)
{ setCapsule(density, direction, a, b); }
void setBox (dReal density, dReal lx, dReal ly, dReal lz)
{ dMassSetBox (this,density,lx,ly,lz); }
void adjust (dReal newmass)
{ dMassAdjust (this,newmass); }
void translate (dReal x, dReal y, dReal z)
{ dMassTranslate (this,x,y,z); }
void rotate (const dMatrix3 R)
{ dMassRotate (this,R); }
void add (const dMass *b)
{ dMassAdd (this,b); }
#endif
};
#ifdef __cplusplus
}
#endif
#endif
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