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16<h1>mass.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************</span>
17<a name="l00002"></a>00002 <span class="comment"> *                                                                       *</span>
18<a name="l00003"></a>00003 <span class="comment"> * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *</span>
19<a name="l00004"></a>00004 <span class="comment"> * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *</span>
20<a name="l00005"></a>00005 <span class="comment"> *                                                                       *</span>
21<a name="l00006"></a>00006 <span class="comment"> * This library is free software; you can redistribute it and/or         *</span>
22<a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of EITHER:                                  *</span>
23<a name="l00008"></a>00008 <span class="comment"> *   (1) The GNU Lesser General Public License as published by the Free  *</span>
24<a name="l00009"></a>00009 <span class="comment"> *       Software Foundation; either version 2.1 of the License, or (at  *</span>
25<a name="l00010"></a>00010 <span class="comment"> *       your option) any later version. The text of the GNU Lesser      *</span>
26<a name="l00011"></a>00011 <span class="comment"> *       General Public License is included with this library in the     *</span>
27<a name="l00012"></a>00012 <span class="comment"> *       file LICENSE.TXT.                                               *</span>
28<a name="l00013"></a>00013 <span class="comment"> *   (2) The BSD-style license that is included with this library in     *</span>
29<a name="l00014"></a>00014 <span class="comment"> *       the file LICENSE-BSD.TXT.                                       *</span>
30<a name="l00015"></a>00015 <span class="comment"> *                                                                       *</span>
31<a name="l00016"></a>00016 <span class="comment"> * This library is distributed in the hope that it will be useful,       *</span>
32<a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of        *</span>
33<a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *</span>
34<a name="l00019"></a>00019 <span class="comment"> * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *</span>
35<a name="l00020"></a>00020 <span class="comment"> *                                                                       *</span>
36<a name="l00021"></a>00021 <span class="comment"> *************************************************************************/</span>
37<a name="l00022"></a>00022
38<a name="l00023"></a>00023 <span class="preprocessor">#ifndef _ODE_MASS_H_</span>
39<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define _ODE_MASS_H_</span>
40<a name="l00025"></a>00025 <span class="preprocessor"></span>
41<a name="l00026"></a>00026 <span class="preprocessor">#include &lt;ode/common.h&gt;</span>
42<a name="l00027"></a>00027
43<a name="l00028"></a>00028 <span class="preprocessor">#ifdef __cplusplus</span>
44<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
45<a name="l00030"></a>00030 <span class="preprocessor">#endif</span>
46<a name="l00031"></a>00031 <span class="preprocessor"></span>
47<a name="l00032"></a>00032 <span class="keyword">struct </span>dMass;
48<a name="l00033"></a>00033 <span class="keyword">typedef</span> <span class="keyword">struct </span>dMass dMass;
49<a name="l00034"></a>00034
50<a name="l00043"></a>00043 ODE_API <span class="keywordtype">int</span> dMassCheck(<span class="keyword">const</span> dMass *m);
51<a name="l00044"></a>00044
52<a name="l00045"></a>00045 ODE_API <span class="keywordtype">void</span> dMassSetZero (dMass *);
53<a name="l00046"></a>00046
54<a name="l00047"></a>00047 ODE_API <span class="keywordtype">void</span> dMassSetParameters (dMass *, dReal themass,
55<a name="l00048"></a>00048           dReal cgx, dReal cgy, dReal cgz,
56<a name="l00049"></a>00049           dReal I11, dReal I22, dReal I33,
57<a name="l00050"></a>00050           dReal I12, dReal I13, dReal I23);
58<a name="l00051"></a>00051
59<a name="l00052"></a>00052 ODE_API <span class="keywordtype">void</span> dMassSetSphere (dMass *, dReal density, dReal radius);
60<a name="l00053"></a>00053 ODE_API <span class="keywordtype">void</span> dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);
61<a name="l00054"></a>00054
62<a name="l00055"></a>00055 ODE_API <span class="keywordtype">void</span> dMassSetCapsule (dMass *, dReal density, <span class="keywordtype">int</span> direction,
63<a name="l00056"></a>00056          dReal radius, dReal length);
64<a name="l00057"></a>00057 ODE_API <span class="keywordtype">void</span> dMassSetCapsuleTotal (dMass *, dReal total_mass, <span class="keywordtype">int</span> direction,
65<a name="l00058"></a>00058          dReal radius, dReal length);
66<a name="l00059"></a>00059
67<a name="l00060"></a>00060 ODE_API <span class="keywordtype">void</span> dMassSetCylinder (dMass *, dReal density, <span class="keywordtype">int</span> direction,
68<a name="l00061"></a>00061              dReal radius, dReal length);
69<a name="l00062"></a>00062 ODE_API <span class="keywordtype">void</span> dMassSetCylinderTotal (dMass *, dReal total_mass, <span class="keywordtype">int</span> direction,
70<a name="l00063"></a>00063              dReal radius, dReal length);
71<a name="l00064"></a>00064
72<a name="l00065"></a>00065 ODE_API <span class="keywordtype">void</span> dMassSetBox (dMass *, dReal density,
73<a name="l00066"></a>00066         dReal lx, dReal ly, dReal lz);
74<a name="l00067"></a>00067 ODE_API <span class="keywordtype">void</span> dMassSetBoxTotal (dMass *, dReal total_mass,
75<a name="l00068"></a>00068              dReal lx, dReal ly, dReal lz);
76<a name="l00069"></a>00069
77<a name="l00070"></a>00070 ODE_API <span class="keywordtype">void</span> dMassSetTrimesh (dMass *, dReal density, dGeomID g);
78<a name="l00071"></a>00071
79<a name="l00072"></a>00072 ODE_API <span class="keywordtype">void</span> dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g);
80<a name="l00073"></a>00073
81<a name="l00074"></a>00074 ODE_API <span class="keywordtype">void</span> dMassAdjust (dMass *, dReal newmass);
82<a name="l00075"></a>00075
83<a name="l00076"></a>00076 ODE_API <span class="keywordtype">void</span> dMassTranslate (dMass *, dReal x, dReal y, dReal z);
84<a name="l00077"></a>00077
85<a name="l00078"></a>00078 ODE_API <span class="keywordtype">void</span> dMassRotate (dMass *, <span class="keyword">const</span> dMatrix3 R);
86<a name="l00079"></a>00079
87<a name="l00080"></a>00080 ODE_API <span class="keywordtype">void</span> dMassAdd (dMass *a, <span class="keyword">const</span> dMass *b);
88<a name="l00081"></a>00081
89<a name="l00082"></a>00082 <span class="comment">// Backwards compatible API</span>
90<a name="l00083"></a>00083 <span class="preprocessor">#define dMassSetCappedCylinder dMassSetCapsule</span>
91<a name="l00084"></a>00084 <span class="preprocessor"></span><span class="preprocessor">#define dMassSetCappedCylinderTotal dMassSetCapsuleTotal</span>
92<a name="l00085"></a>00085 <span class="preprocessor"></span>
93<a name="l00086"></a>00086
94<a name="l00087"></a>00087 <span class="keyword">struct </span>dMass {
95<a name="l00088"></a>00088   dReal mass;
96<a name="l00089"></a>00089   dVector4 c;
97<a name="l00090"></a>00090   dMatrix3 I;
98<a name="l00091"></a>00091
99<a name="l00092"></a>00092 <span class="preprocessor">#ifdef __cplusplus</span>
100<a name="l00093"></a>00093 <span class="preprocessor"></span>  dMass()
101<a name="l00094"></a>00094     { dMassSetZero (<span class="keyword">this</span>); }
102<a name="l00095"></a>00095   <span class="keywordtype">void</span> setZero()
103<a name="l00096"></a>00096     { dMassSetZero (<span class="keyword">this</span>); }
104<a name="l00097"></a>00097   <span class="keywordtype">void</span> setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
105<a name="l00098"></a>00098             dReal I11, dReal I22, dReal I33,
106<a name="l00099"></a>00099             dReal I12, dReal I13, dReal I23)
107<a name="l00100"></a>00100     { dMassSetParameters (<span class="keyword">this</span>,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
108<a name="l00101"></a>00101   <span class="keywordtype">void</span> setSphere (dReal density, dReal radius)
109<a name="l00102"></a>00102     { dMassSetSphere (<span class="keyword">this</span>,density,radius); }
110<a name="l00103"></a>00103   <span class="keywordtype">void</span> setCapsule (dReal density, <span class="keywordtype">int</span> direction, dReal a, dReal b)
111<a name="l00104"></a>00104     { dMassSetCappedCylinder (<span class="keyword">this</span>,density,direction,a,b); }
112<a name="l00105"></a>00105   <span class="keywordtype">void</span> setCappedCylinder (dReal density, <span class="keywordtype">int</span> direction, dReal a, dReal b)
113<a name="l00106"></a>00106     { setCapsule(density, direction, a, b); }
114<a name="l00107"></a>00107   <span class="keywordtype">void</span> setBox (dReal density, dReal lx, dReal ly, dReal lz)
115<a name="l00108"></a>00108     { dMassSetBox (<span class="keyword">this</span>,density,lx,ly,lz); }
116<a name="l00109"></a>00109   <span class="keywordtype">void</span> adjust (dReal newmass)
117<a name="l00110"></a>00110     { dMassAdjust (<span class="keyword">this</span>,newmass); }
118<a name="l00111"></a>00111   <span class="keywordtype">void</span> translate (dReal x, dReal y, dReal z)
119<a name="l00112"></a>00112     { dMassTranslate (<span class="keyword">this</span>,x,y,z); }
120<a name="l00113"></a>00113   <span class="keywordtype">void</span> rotate (<span class="keyword">const</span> dMatrix3 R)
121<a name="l00114"></a>00114     { dMassRotate (<span class="keyword">this</span>,R); }
122<a name="l00115"></a>00115   <span class="keywordtype">void</span> <span class="keyword">add</span> (<span class="keyword">const</span> dMass *b)
123<a name="l00116"></a>00116     { dMassAdd (<span class="keyword">this</span>,b); }
124<a name="l00117"></a>00117 <span class="preprocessor">#endif</span>
125<a name="l00118"></a>00118 <span class="preprocessor"></span>};
126<a name="l00119"></a>00119
127<a name="l00120"></a>00120
128<a name="l00121"></a>00121 <span class="preprocessor">#ifdef __cplusplus</span>
129<a name="l00122"></a>00122 <span class="preprocessor"></span>}
130<a name="l00123"></a>00123 <span class="preprocessor">#endif</span>
131<a name="l00124"></a>00124 <span class="preprocessor"></span>
132<a name="l00125"></a>00125 <span class="preprocessor">#endif</span>
133</pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by&nbsp;
134<a href="http://www.doxygen.org/index.html">
135<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
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