1 /*************************************************************************

     2  *                                                                       *

     3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *

     4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *

     5  *                                                                       *

     6  * This library is free software; you can redistribute it and/or         *

     7  * modify it under the terms of EITHER:                                  *

     8  *   (1) The GNU Lesser General Public License as published by the Free  *

     9  *       Software Foundation; either version 2.1 of the License, or (at  *

    10  *       your option) any later version. The text of the GNU Lesser      *

    11  *       General Public License is included with this library in the     *

    12  *       file LICENSE.TXT.                                               *

    13  *   (2) The BSD-style license that is included with this library in     *

    14  *       the file LICENSE-BSD.TXT.                                       *

    15  *                                                                       *

    16  * This library is distributed in the hope that it will be useful,       *

    17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *

    18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *

    19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *

    20  *                                                                       *

    21  *************************************************************************/

    22 

    23 #ifndef _ODE_MASS_H_

    24 #define _ODE_MASS_H_

    25 

    26 #include <ode/common.h>

    27 

    28 #ifdef __cplusplus

    29 extern "C" {

    30 #endif

    31 

    32 struct dMass;

    33 typedef struct dMass dMass;

    34 

    35 /**

    36  * Check if a mass structure has valid value.

    37  * The function check if the mass and innertia matrix are positive definits

    38  *

    39  * @param m A mass structure to check

    40  *

    41  * @return 1 if both codition are met

    42  */

    43 ODE_API IMPORT_C int dMassCheck(const dMass *m);

    44 

    45 ODE_API IMPORT_C void dMassSetZero (dMass *);

    46 

    47 ODE_API IMPORT_C void dMassSetParameters (dMass *, dReal themass,

    48 			 dReal cgx, dReal cgy, dReal cgz,

    49 			 dReal I11, dReal I22, dReal I33,

    50 			 dReal I12, dReal I13, dReal I23);

    51 

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

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

    54 

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

    56 		  	dReal radius, dReal length);

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

    58 			dReal radius, dReal length);

    59 

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

    61 		       dReal radius, dReal length);

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

    63 			    dReal radius, dReal length);

    64 

    65 ODE_API IMPORT_C void dMassSetBox (dMass *, dReal density,

    66 		  dReal lx, dReal ly, dReal lz);

    67 ODE_API IMPORT_C void dMassSetBoxTotal (dMass *, dReal total_mass,

    68 		       dReal lx, dReal ly, dReal lz);

    69 

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

    71 

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

    73 

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

    75 

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

    77 

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

    79 

    80 // Backwards compatible API

    81 #define dMassSetCappedCylinder dMassSetCapsule

    82 #define dMassSetCappedCylinderTotal dMassSetCapsuleTotal

    83 

    84 

    85 struct dMass {

    86   dReal mass;

    87   dVector4 c;

    88   dMatrix3 I;

    89 

    90 #ifdef __cplusplus

    91   dMass()

    92     { dMassSetZero (this); }

    93   void setZero()

    94     { dMassSetZero (this); }

    95   void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,

    96 		      dReal I11, dReal I22, dReal I33,

    97 		      dReal I12, dReal I13, dReal I23)

    98     { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }

    99   void setSphere (dReal density, dReal radius)

   100     { dMassSetSphere (this,density,radius); }

   101   void setCapsule (dReal density, int direction, dReal a, dReal b)

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

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

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

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

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

   107   void adjust (dReal newmass)

   108     { dMassAdjust (this,newmass); }

   109   void translate (dReal x, dReal y, dReal z)

   110     { dMassTranslate (this,x,y,z); }

   111   void rotate (const dMatrix3 R)

   112     { dMassRotate (this,R); }

   113   void add (const dMass *b)

   114     { dMassAdd (this,b); }

   115 #endif

   116 };

   117 

   118 

   119 #ifdef __cplusplus

   120 }

   121 #endif

   122 

   123 #endif