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thirdparty/ode-0.16.5/include/ode/mass.h

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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 inertia 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