164 lines
4.1 KiB
Plaintext
Executable File
164 lines
4.1 KiB
Plaintext
Executable File
// Filename: odeMass.I
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// Created by: joswilso (27Dec06)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) 2001 - 2004, Disney Enterprises, Inc. All rights reserved
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//
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// All use of this software is subject to the terms of the Panda 3d
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// Software license. You should have received a copy of this license
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// along with this source code; you will also find a current copy of
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// the license at http://etc.cmu.edu/panda3d/docs/license/ .
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//
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// To contact the maintainers of this program write to
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// panda3d-general@lists.sourceforge.net .
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//
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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._m.data[0], i._m.data[4], i._m.data[8],
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i._m.data[1], i._m.data[2], i._m.data[5]);
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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._m.data[0], r._m.data[1], r._m.data[2], 0,
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r._m.data[3], r._m.data[4], r._m.data[5], 0,
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r._m.data[6], r._m.data[7], r._m.data[8], 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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