void dMassSetZero (dMass *m);
void dMassSetParameters (dMass *m, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
void dMassSetSphere (dMass *m, dReal density, dReal radius);
void dMassSetSphereTotal (dMass *m, dReal total_mass, dReal radius);
void dMassSetCapsule (dMass *m, dReal density, int direction, dReal radius, dReal length);
void dMassSetCapsuleTotal (dMass *m, dReal total_mass, int direction, dReal radius, dReal length);
void dMassSetCylinder (dMass *m, dReal density, int direction, dReal radius, dReal length);
void dMassSetCylinderTotal (dMass *m, dReal total_mass, int direction, dReal radius, dReal length);
void dMassSetBox (dMass *m, dReal density, dReal lx, dReal ly, dReal lz);
void dMassSetBoxTotal (dMass *m, dReal total_mass, dReal lx, dReal ly, dReal lz);
void dMassSetTrimesh (dMass *m, dReal density, dGeomID g)
void dMassAdjust (dMass *m, dReal newmass);
void dMassTranslate (dMass *m, dReal x, dReal y, dReal z);
void dMassRotate (dMass *m, const dMatrix3 R);
void dMassAdd (dMass *ma, const dMass *mb);