deimos.ode.mass source code

1 /*************************************************************************
2  *                          D bindings for ODE                           *
3  *                                                                       *
4  *       C header port by Daniel "q66" Kolesa <quaker66@gmail.com>       *
5  *                                                                       *
6  * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
7  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
8  *                                                                       *
9  * This library is free software; you can redistribute it and/or         *
10  * modify it under the terms of EITHER:                                  *
11  *   (1) The GNU Lesser General Public License as published by the Free  *
12  *       Software Foundation; either version 2.1 of the License, or (at  *
13  *       your option) any later version. The text of the GNU Lesser      *
14  *       General Public License is included with this library in the     *
15  *       file LICENSE.TXT.                                               *
16  *   (2) The BSD-style license that is included with this library in     *
17  *       the file LICENSE-BSD.TXT.                                       *
18  *                                                                       *
19  * This library is distributed in the hope that it will be useful,       *
20  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
21  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
22  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
23  *                                                                       *
24  *************************************************************************/
25 
26 module deimos.ode.mass;
27 
28 private import deimos.ode.common;
29 
30 extern (C):
31 nothrow:
32 
33 /**
34  * Check if a mass structure has valid value.
35  * The function check if the mass and innertia matrix are positive definits
36  *
37  * @param m A mass structure to check
38  *
39  * @return 1 if both codition are met
40  */
41 int dMassCheck(in dMass *m);
42 
43 void dMassSetZero(dMass*);
44 
45 void dMassSetParameters(
46     dMass*, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11,
47     dReal I22, dReal I33, dReal I12, dReal I13, dReal I23
48 );
49 
50 void dMassSetSphere(dMass*, dReal density, dReal radius);
51 void dMassSetSphereTotal(dMass*, dReal total_mass, dReal radius);
52 
53 void dMassSetCapsule(
54     dMass*, dReal density, int direction, dReal radius, dReal length
55 );
56 void dMassSetCapsuleTotal(
57     dMass*, dReal total_mass, int direction, dReal radius, dReal length
58 );
59 
60 void dMassSetCylinder(
61     dMass*, dReal density, int direction, dReal radius, dReal length
62 );
63 void dMassSetCylinderTotal(
64     dMass*, dReal total_mass, int direction, dReal radius, dReal length
65 );
66 
67 void dMassSetBox(dMass*, dReal density, dReal lx, dReal ly, dReal lz);
68 void dMassSetBoxTotal(dMass*, dReal total_mass, dReal lx, dReal ly, dReal lz);
69 
70 void dMassSetTrimesh(dMass*, dReal density, dGeomID g);
71 
72 void dMassSetTrimeshTotal(dMass* m, dReal total_mass, dGeomID g);
73 
74 void dMassAdjust(dMass*, dReal newmass);
75 
76 void dMassTranslate(dMass*, dReal x, dReal y, dReal z);
77 
78 void dMassRotate(dMass*, in dMatrix3 R);
79 
80 void dMassAdd(dMass* a, in dMass* b);
81 
82 struct dMass
83 {
84     dReal mass;
85     dVector3 c;
86     dMatrix3 I;
87 }