99 lines
3 KiB
C
99 lines
3 KiB
C
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/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file odeMass.h
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* @author joswilso
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* @date 2006-12-27
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*/
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#ifndef ODEMASS_H
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#define ODEMASS_H
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#include "pandabase.h"
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#include "typedReferenceCount.h"
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#include "luse.h"
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#include "ode_includes.h"
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/**
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*
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*/
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class EXPCL_PANDAODE OdeMass : public TypedReferenceCount {
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PUBLISHED:
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OdeMass();
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OdeMass(const OdeMass ©);
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virtual ~OdeMass();
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INLINE int check();
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INLINE void set_zero();
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INLINE void set_parameters(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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INLINE void set_parameters(dReal themass,
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const LVecBase3f ¢er,
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const LMatrix3f &r);
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INLINE void set_sphere(dReal density, dReal radius);
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INLINE void set_sphere_total(dReal total_mass, dReal radius);
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INLINE void set_capsule(dReal density, int direction,
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dReal radius, dReal length);
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INLINE void set_capsule_total(dReal total_mass, int direction,
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dReal radius, dReal length);
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INLINE void set_cylinder(dReal density, int direction,
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dReal radius, dReal length);
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INLINE void set_cylinder_total(dReal total_mass, int direction,
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dReal radius, dReal length);
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INLINE void set_box(dReal density,
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dReal lx, dReal ly, dReal lz);
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INLINE void set_box(dReal density,
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const LVecBase3f &size);
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INLINE void set_box_total(dReal total_mass,
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dReal lx, dReal ly, dReal lz);
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INLINE void set_box_total(dReal total_mass,
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const LVecBase3f &size);
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INLINE void adjust(dReal newmass);
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INLINE void translate(dReal x, dReal y, dReal z);
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INLINE void translate(const LVecBase3f &pos);
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INLINE void rotate(const LMatrix3f &r);
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INLINE void add(OdeMass &other);
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INLINE dReal get_magnitude() const;
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INLINE LPoint3f get_center() const;
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INLINE LMatrix3f get_inertial_tensor() const;
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virtual void write(std::ostream &out = std::cout, unsigned int indent=0) const;
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public:
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dMass* get_mass_ptr();
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private:
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void operator = (const OdeMass ©);
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dMass _mass;
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type() {
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TypedReferenceCount::init_type();
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register_type(_type_handle, "OdeMass",
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TypedReferenceCount::get_class_type());
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}
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virtual TypeHandle get_type() const {
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return get_class_type();
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}
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virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
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private:
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static TypeHandle _type_handle;
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};
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#include "odeMass.I"
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#endif
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