mass.h

00001 /*************************************************************************
00002  *                                                                       *
00003  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
00005  *                                                                       *
00006  * This library is free software; you can redistribute it and/or         *
00007  * modify it under the terms of EITHER:                                  *
00008  *   (1) The GNU Lesser General Public License as published by the Free  *
00009  *       Software Foundation; either version 2.1 of the License, or (at  *
00010  *       your option) any later version. The text of the GNU Lesser      *
00011  *       General Public License is included with this library in the     *
00012  *       file LICENSE.TXT.                                               *
00013  *   (2) The BSD-style license that is included with this library in     *
00014  *       the file LICENSE-BSD.TXT.                                       *
00015  *                                                                       *
00016  * This library is distributed in the hope that it will be useful,       *
00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
00020  *                                                                       *
00021  *************************************************************************/
00022 
00023 #ifndef _ODE_MASS_H_
00024 #define _ODE_MASS_H_
00025 
00026 #include <ode/common.h>
00027 
00028 #ifdef __cplusplus
00029 extern "C" {
00030 #endif
00031 
00032 struct dMass;
00033 typedef struct dMass dMass;
00034 
00035 
00036 ODE_API void dMassSetZero (dMass *);
00037 
00038 ODE_API void dMassSetParameters (dMass *, dReal themass,
00039           dReal cgx, dReal cgy, dReal cgz,
00040           dReal I11, dReal I22, dReal I33,
00041           dReal I12, dReal I13, dReal I23);
00042 
00043 ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius);
00044 ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);
00045 
00046 ODE_API void dMassSetCapsule (dMass *, dReal density, int direction,
00047          dReal radius, dReal length);
00048 ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction,
00049          dReal radius, dReal length);
00050 
00051 ODE_API void dMassSetCylinder (dMass *, dReal density, int direction,
00052              dReal radius, dReal length);
00053 ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
00054              dReal radius, dReal length);
00055 
00056 ODE_API void dMassSetBox (dMass *, dReal density,
00057         dReal lx, dReal ly, dReal lz);
00058 ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass,
00059              dReal lx, dReal ly, dReal lz);
00060 
00061 ODE_API void dMassAdjust (dMass *, dReal newmass);
00062 
00063 ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
00064 
00065 ODE_API void dMassRotate (dMass *, const dMatrix3 R);
00066 
00067 ODE_API void dMassAdd (dMass *a, const dMass *b);
00068 
00069 // Backwards compatible API
00070 #define dMassSetCappedCylinder dMassSetCapsule
00071 #define dMassSetCappedCylinderTotal dMassSetCapsuleTotal
00072 
00073 
00074 struct dMass {
00075   dReal mass;
00076   dVector4 c;
00077   dMatrix3 I;
00078 
00079 #ifdef __cplusplus
00080   dMass()
00081     { dMassSetZero (this); }
00082   void setZero()
00083     { dMassSetZero (this); }
00084   void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
00085             dReal I11, dReal I22, dReal I33,
00086             dReal I12, dReal I13, dReal I23)
00087     { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
00088   void setSphere (dReal density, dReal radius)
00089     { dMassSetSphere (this,density,radius); }
00090   void setCapsule (dReal density, int direction, dReal a, dReal b)
00091     { dMassSetCappedCylinder (this,density,direction,a,b); }
00092   void setCappedCylinder (dReal density, int direction, dReal a, dReal b)
00093     { setCapsule(density, direction, a, b); }
00094   void setBox (dReal density, dReal lx, dReal ly, dReal lz)
00095     { dMassSetBox (this,density,lx,ly,lz); }
00096   void adjust (dReal newmass)
00097     { dMassAdjust (this,newmass); }
00098   void translate (dReal x, dReal y, dReal z)
00099     { dMassTranslate (this,x,y,z); }
00100   void rotate (const dMatrix3 R)
00101     { dMassRotate (this,R); }
00102   void add (const dMass *b)
00103     { dMassAdd (this,b); }
00104 #endif
00105 };
00106 
00107 
00108 #ifdef __cplusplus
00109 }
00110 #endif
00111 
00112 #endif

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