158 lines
3.8 KiB
Text
158 lines
3.8 KiB
Text
/**
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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.I
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* @author joswilso
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* @date 2006-12-27
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*/
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INLINE int OdeMass::
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check() {
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return dMassCheck(&_mass);
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}
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INLINE void OdeMass::
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set_zero() {
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_mass.setZero();
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}
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INLINE void OdeMass::
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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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_mass.setParameters(themass,
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cgx, cgy, cgz,
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I11, I22, I33,
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I12, I13, I23);
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}
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INLINE void OdeMass::
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set_parameters(dReal themass,
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const LVecBase3f ¢er,
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const LMatrix3f &i) {
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set_parameters(themass,
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center[0], center[1], center[2],
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i(0, 0), i(1, 1), i(2, 2),
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i(0, 1), i(0, 2), i(1, 2));
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}
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INLINE void OdeMass::
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set_sphere(dReal density, dReal radius) {
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_mass.setSphere(density, radius);
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}
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INLINE void OdeMass::
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set_sphere_total(dReal total_mass, dReal radius) {
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dMassSetSphereTotal(&_mass, total_mass, radius);
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}
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INLINE void OdeMass::
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set_capsule(dReal density, int direction,
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dReal radius, dReal length) {
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_mass.setCapsule(density, direction,
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radius, length);
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}
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INLINE void OdeMass::
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set_capsule_total(dReal total_mass, int direction,
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dReal radius, dReal length) {
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dMassSetCapsuleTotal(&_mass,
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total_mass, direction,
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radius, length);
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}
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INLINE void OdeMass::
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set_cylinder(dReal density, int direction,
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dReal radius, dReal length) {
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dMassSetCylinder(&_mass,
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density,direction,
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radius,length);
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}
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INLINE void OdeMass::
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set_cylinder_total(dReal total_mass, int direction,
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dReal radius, dReal length) {
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dMassSetCylinderTotal(&_mass, total_mass, direction,
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radius, length);
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}
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INLINE void OdeMass::
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set_box(dReal density,
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dReal lx, dReal ly, dReal lz) {
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_mass.setBox(density,
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lx, ly, lz);
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}
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INLINE void OdeMass::
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set_box(dReal density,
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const LVecBase3f &size) {
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_mass.setBox(density,
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size[0], size[1], size[2]);
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}
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INLINE void OdeMass::
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set_box_total(dReal total_mass,
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const LVecBase3f &size) {
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dMassSetBoxTotal(&_mass,
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total_mass,
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size[0], size[1], size[2]);
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}
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INLINE void OdeMass::
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set_box_total(dReal total_mass,
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dReal lx, dReal ly, dReal lz) {
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dMassSetBoxTotal(&_mass,
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total_mass,
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lx, ly, lz);
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}
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INLINE void OdeMass::
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adjust(dReal newmass) {
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_mass.adjust(newmass);
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}
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INLINE void OdeMass::
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translate(dReal x, dReal y, dReal z) {
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_mass.translate(x, y, z);
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}
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INLINE void OdeMass::
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translate(const LVecBase3f &pos) {
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translate(pos[0], pos[1], pos[2]);
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}
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INLINE void OdeMass::
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rotate(const LMatrix3f &r) {
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dMatrix3 rot = { r(0, 0), r(0, 1), r(0, 2), 0,
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r(1, 0), r(1, 1), r(1, 2), 0,
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r(2, 0), r(2, 1), r(2, 2), 0 };
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_mass.rotate(rot);
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}
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INLINE void OdeMass::
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add(OdeMass &other) {
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_mass.add(other.get_mass_ptr());
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}
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INLINE dReal OdeMass::
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get_magnitude() const {
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return _mass.mass;
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}
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INLINE LPoint3f OdeMass::
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get_center() const {
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return LPoint3f(_mass.c[0], _mass.c[1], _mass.c[2]);
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}
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INLINE LMatrix3f OdeMass::
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get_inertial_tensor() const {
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return LMatrix3f(_mass.I[0], _mass.I[1], _mass.I[2] ,
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_mass.I[4], _mass.I[5], _mass.I[6] ,
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_mass.I[8], _mass.I[9], _mass.I[10]);
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}
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