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Diffstat (limited to 'libs/ode-0.16.1/include/ode/mass.h')
| -rw-r--r-- | libs/ode-0.16.1/include/ode/mass.h | 144 |
1 files changed, 144 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/include/ode/mass.h b/libs/ode-0.16.1/include/ode/mass.h new file mode 100644 index 0000000..af89cb1 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/mass.h @@ -0,0 +1,144 @@ +/************************************************************************* + * * + * 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 */ +ODE_API_DEPRECATED ODE_API void dMassSetCappedCylinder(dMass *a, dReal b, int c, dReal d, dReal e); +ODE_API_DEPRECATED ODE_API void dMassSetCappedCylinderTotal(dMass *a, dReal b, int c, dReal d, dReal e); + + +struct dMass { + dReal mass; + dVector3 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 setSphereTotal (dReal total, dReal radius) + { dMassSetSphereTotal (this,total,radius); } + + void setCapsule (dReal density, int direction, dReal radius, dReal length) + { dMassSetCapsule (this,density,direction,radius,length); } + void setCapsuleTotal (dReal total, int direction, dReal radius, dReal length) + { dMassSetCapsule (this,total,direction,radius,length); } + + void setCylinder(dReal density, int direction, dReal radius, dReal length) + { dMassSetCylinder (this,density,direction,radius,length); } + void setCylinderTotal(dReal total, int direction, dReal radius, dReal length) + { dMassSetCylinderTotal (this,total,direction,radius,length); } + + void setBox (dReal density, dReal lx, dReal ly, dReal lz) + { dMassSetBox (this,density,lx,ly,lz); } + void setBoxTotal (dReal total, dReal lx, dReal ly, dReal lz) + { dMassSetBoxTotal (this,total,lx,ly,lz); } + + void setTrimesh(dReal density, dGeomID g) + { dMassSetTrimesh (this, density, g); } + void setTrimeshTotal(dReal total, dGeomID g) + { dMassSetTrimeshTotal (this, total, g); } + + 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 |