[216] | 1 | /************************************************************************* |
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| 2 | * * |
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| 3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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| 5 | * * |
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| 6 | * This library is free software; you can redistribute it and/or * |
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| 7 | * modify it under the terms of EITHER: * |
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| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
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| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
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| 10 | * your option) any later version. The text of the GNU Lesser * |
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| 11 | * General Public License is included with this library in the * |
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| 12 | * file LICENSE.TXT. * |
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| 13 | * (2) The BSD-style license that is included with this library in * |
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| 14 | * the file LICENSE-BSD.TXT. * |
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| 15 | * * |
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| 16 | * This library is distributed in the hope that it will be useful, * |
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| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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| 20 | * * |
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| 21 | *************************************************************************/ |
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| 22 | |
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| 23 | #ifndef _ODE_MASS_H_ |
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| 24 | #define _ODE_MASS_H_ |
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| 25 | |
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| 26 | #include <ode/common.h> |
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| 27 | |
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| 28 | #ifdef __cplusplus |
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| 29 | extern "C" { |
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| 30 | #endif |
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| 31 | |
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| 32 | struct dMass; |
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| 33 | typedef struct dMass dMass; |
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| 34 | |
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| 35 | /** |
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| 36 | * Check if a mass structure has valid value. |
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| 37 | * The function check if the mass and innertia matrix are positive definits |
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| 38 | * |
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| 39 | * @param m A mass structure to check |
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| 40 | * |
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| 41 | * @return 1 if both codition are met |
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| 42 | */ |
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| 43 | ODE_API int dMassCheck(const dMass *m); |
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| 44 | |
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| 45 | ODE_API void dMassSetZero (dMass *); |
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| 46 | |
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| 47 | ODE_API void dMassSetParameters (dMass *, dReal themass, |
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| 48 | dReal cgx, dReal cgy, dReal cgz, |
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| 49 | dReal I11, dReal I22, dReal I33, |
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| 50 | dReal I12, dReal I13, dReal I23); |
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| 51 | |
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| 52 | ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius); |
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| 53 | ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius); |
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| 54 | |
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| 55 | ODE_API void dMassSetCapsule (dMass *, dReal density, int direction, |
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| 56 | dReal radius, dReal length); |
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| 57 | ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction, |
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| 58 | dReal radius, dReal length); |
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| 59 | |
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| 60 | ODE_API void dMassSetCylinder (dMass *, dReal density, int direction, |
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| 61 | dReal radius, dReal length); |
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| 62 | ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction, |
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| 63 | dReal radius, dReal length); |
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| 64 | |
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| 65 | ODE_API void dMassSetBox (dMass *, dReal density, |
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| 66 | dReal lx, dReal ly, dReal lz); |
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| 67 | ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass, |
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| 68 | dReal lx, dReal ly, dReal lz); |
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| 69 | |
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| 70 | ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g); |
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| 71 | |
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| 72 | ODE_API void dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g); |
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| 73 | |
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| 74 | ODE_API void dMassAdjust (dMass *, dReal newmass); |
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| 75 | |
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| 76 | ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z); |
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| 77 | |
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| 78 | ODE_API void dMassRotate (dMass *, const dMatrix3 R); |
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| 79 | |
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| 80 | ODE_API void dMassAdd (dMass *a, const dMass *b); |
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| 81 | |
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| 82 | // Backwards compatible API |
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| 83 | #define dMassSetCappedCylinder dMassSetCapsule |
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| 84 | #define dMassSetCappedCylinderTotal dMassSetCapsuleTotal |
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| 85 | |
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| 86 | |
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| 87 | struct dMass { |
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| 88 | dReal mass; |
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| 89 | dVector4 c; |
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| 90 | dMatrix3 I; |
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| 91 | |
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| 92 | #ifdef __cplusplus |
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| 93 | dMass() |
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| 94 | { dMassSetZero (this); } |
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| 95 | void setZero() |
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| 96 | { dMassSetZero (this); } |
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| 97 | void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz, |
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| 98 | dReal I11, dReal I22, dReal I33, |
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| 99 | dReal I12, dReal I13, dReal I23) |
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| 100 | { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); } |
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| 101 | void setSphere (dReal density, dReal radius) |
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| 102 | { dMassSetSphere (this,density,radius); } |
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| 103 | void setCapsule (dReal density, int direction, dReal a, dReal b) |
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| 104 | { dMassSetCappedCylinder (this,density,direction,a,b); } |
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| 105 | void setCappedCylinder (dReal density, int direction, dReal a, dReal b) |
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| 106 | { setCapsule(density, direction, a, b); } |
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| 107 | void setBox (dReal density, dReal lx, dReal ly, dReal lz) |
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| 108 | { dMassSetBox (this,density,lx,ly,lz); } |
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| 109 | void adjust (dReal newmass) |
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| 110 | { dMassAdjust (this,newmass); } |
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| 111 | void translate (dReal x, dReal y, dReal z) |
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| 112 | { dMassTranslate (this,x,y,z); } |
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| 113 | void rotate (const dMatrix3 R) |
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| 114 | { dMassRotate (this,R); } |
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| 115 | void add (const dMass *b) |
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| 116 | { dMassAdd (this,b); } |
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| 117 | #endif |
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| 118 | }; |
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| 119 | |
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| 120 | |
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| 121 | #ifdef __cplusplus |
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| 122 | } |
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| 123 | #endif |
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| 124 | |
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| 125 | #endif |
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