/*************************************************************************

 *                                                                       *

 * 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 innertia matrix are positive definits

 *

 * @param m A mass structure to check

 *

 * @return 1 if both codition are met

 */

ODE_API IMPORT_C int dMassCheck(const dMass *m);

ODE_API IMPORT_C void dMassSetZero (dMass *);

ODE_API IMPORT_C 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 IMPORT_C void dMassSetSphere (dMass *, dReal density, dReal radius);

ODE_API IMPORT_C void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);

ODE_API IMPORT_C void dMassSetCapsule (dMass *, dReal density, int direction,

		  	dReal radius, dReal length);

ODE_API IMPORT_C void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction,

			dReal radius, dReal length);

ODE_API IMPORT_C void dMassSetCylinder (dMass *, dReal density, int direction,

		       dReal radius, dReal length);

ODE_API IMPORT_C void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,

			    dReal radius, dReal length);

ODE_API IMPORT_C void dMassSetBox (dMass *, dReal density,

		  dReal lx, dReal ly, dReal lz);

ODE_API IMPORT_C void dMassSetBoxTotal (dMass *, dReal total_mass,

		       dReal lx, dReal ly, dReal lz);

ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g);

ODE_API IMPORT_C void dMassAdjust (dMass *, dReal newmass);

ODE_API IMPORT_C void dMassTranslate (dMass *, dReal x, dReal y, dReal z);

ODE_API IMPORT_C void dMassRotate (dMass *, const dMatrix3 R);

ODE_API IMPORT_C void dMassAdd (dMass *a, const dMass *b);

// Backwards compatible API

#define dMassSetCappedCylinder dMassSetCapsule

#define dMassSetCappedCylinderTotal dMassSetCapsuleTotal

struct dMass {

  dReal mass;

  dVector4 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 setCapsule (dReal density, int direction, dReal a, dReal b)

    { dMassSetCappedCylinder (this,density,direction,a,b); }

  void setCappedCylinder (dReal density, int direction, dReal a, dReal b)

    { setCapsule(density, direction, a, b); }

  void setBox (dReal density, dReal lx, dReal ly, dReal lz)

    { dMassSetBox (this,density,lx,ly,lz); }

  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