126 lines
4.5 KiB
C
126 lines
4.5 KiB
C
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#ifndef _ODE_MASS_H_
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#define _ODE_MASS_H_
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#include <ode/common.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct dMass;
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typedef struct dMass dMass;
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/**
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* Check if a mass structure has valid value.
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* The function check if the mass and innertia matrix are positive definits
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*
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* @param m A mass structure to check
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*
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* @return 1 if both codition are met
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*/
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ODE_API int dMassCheck(const dMass *m);
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ODE_API void dMassSetZero (dMass *);
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ODE_API void dMassSetParameters (dMass *, dReal themass,
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dReal cgx, dReal cgy, dReal cgz,
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dReal I11, dReal I22, dReal I33,
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dReal I12, dReal I13, dReal I23);
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ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius);
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ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);
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ODE_API void dMassSetCapsule (dMass *, dReal density, int direction,
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dReal radius, dReal length);
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ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction,
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dReal radius, dReal length);
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ODE_API void dMassSetCylinder (dMass *, dReal density, int direction,
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dReal radius, dReal length);
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ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
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dReal radius, dReal length);
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ODE_API void dMassSetBox (dMass *, dReal density,
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dReal lx, dReal ly, dReal lz);
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ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass,
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dReal lx, dReal ly, dReal lz);
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ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g);
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ODE_API void dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g);
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ODE_API void dMassAdjust (dMass *, dReal newmass);
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ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
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ODE_API void dMassRotate (dMass *, const dMatrix3 R);
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ODE_API void dMassAdd (dMass *a, const dMass *b);
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// Backwards compatible API
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#define dMassSetCappedCylinder dMassSetCapsule
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#define dMassSetCappedCylinderTotal dMassSetCapsuleTotal
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struct dMass {
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dReal mass;
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dVector4 c;
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dMatrix3 I;
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#ifdef __cplusplus
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dMass()
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{ dMassSetZero (this); }
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void setZero()
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{ dMassSetZero (this); }
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void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
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dReal I11, dReal I22, dReal I33,
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dReal I12, dReal I13, dReal I23)
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{ dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
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void setSphere (dReal density, dReal radius)
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{ dMassSetSphere (this,density,radius); }
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void setCapsule (dReal density, int direction, dReal a, dReal b)
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{ dMassSetCappedCylinder (this,density,direction,a,b); }
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void setCappedCylinder (dReal density, int direction, dReal a, dReal b)
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{ setCapsule(density, direction, a, b); }
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void setBox (dReal density, dReal lx, dReal ly, dReal lz)
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{ dMassSetBox (this,density,lx,ly,lz); }
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void adjust (dReal newmass)
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{ dMassAdjust (this,newmass); }
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void translate (dReal x, dReal y, dReal z)
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{ dMassTranslate (this,x,y,z); }
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void rotate (const dMatrix3 R)
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{ dMassRotate (this,R); }
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void add (const dMass *b)
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{ dMassAdd (this,b); }
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#endif
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};
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#ifdef __cplusplus
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}
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#endif
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#endif
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