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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