org.ode4j.ode.DMass Maven / Gradle / Ivy
/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: [email protected] Web: www.q12.org *
* Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke *
* All rights reserved. Email: [email protected] Web: www.ode4j.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more *
* details. *
* *
*************************************************************************/
package org.ode4j.ode;
import org.ode4j.math.DMatrix3C;
import org.ode4j.math.DVector3C;
/**
*
*/
public interface DMass extends DMassC {
/**
* Set mass, center and inertia matrix to zero.
*/
void setZero();
/**
* Set all parameters of the mass.
* @param total_mass total mass
* @param cgx center of gravity x
* @param cgy center of gravity y
* @param cgz center of gravity x
* @param I11 intertia matrix 11
* @param I22 intertia matrix 22
* @param I33 intertia matrix 33
* @param I12 intertia matrix 12
* @param I13 intertia matrix 13
* @param I23 intertia matrix 23
*/
void setParameters (double total_mass, double cgx, double cgy, double cgz,
double I11, double I22, double I33,
double I12, double I13, double I23);
void setSphere (double density, double radius);
void setSphereTotal (double total_mass, double radius);
void setTrimesh(double density, DTriMesh geom);
void setTrimeshTotal(double total_mass, DTriMesh geom);
/**
* @param density density
* @param direction 1=x; 2=y; 3=z
* @param radius radius
* @param length length
*/
void setCapsule (double density, int direction, double radius, double length);
/**
* @param total_mass total mass
* @param direction 1=x; 2=y; 3=z
* @param radius radius
* @param length length
*/
void setCapsuleTotal (double total_mass, int direction, double radius, double length);
/**
* @param density density
* @param direction 1=x; 2=y; 3=z
* @param radius radius
* @param length length
*/
void setCylinder (double density, int direction, double radius, double length);
/**
* @param total_mass total mass
* @param direction 1=x; 2=y; 3=z
* @param radius radius
* @param length length
*/
void setCylinderTotal (double total_mass, int direction, double radius, double length);
void setBox (double density, double lx, double ly, double lz);
void setBox (double density, DVector3C lxyz);
void setBoxTotal (double total_mass, double lx, double ly, double lz);
void adjust (double new_total_mass);
void translate (double x, double y, double z);
void translate(DVector3C c);
void rotate (DMatrix3C R);
void add (DMassC b);
//by TZ
@Override
double getMass();
void setMass(double total_mass);
/**
* Get center of gravity.
* @return center of gravity
*/
@Override
DVector3C getC();
/**
* Set inertia matrix.
* @return inertia matrix
*/
@Override
DMatrix3C getI();
/**
* @param c mass center
*/
void setC(DVector3C c);
/**
* @param I inertia matrix
*/
void setI(DMatrix3C I);
/**
* Check if a mass structure has valid value.
* The function check if the mass and inertia matrix are positive definits
*
* @return true if both condition are met
*/
@Override
boolean check();
// /**
// * Check if a mass structure has valid value.
// * The function check if the mass and innertia matrix are positive definits
// *
// * @param m A mass structure to check
// *
// * @return 1 if both codition are met
// */
// //ODE_API
// public abstract int dMassCheck(final dMass m);
//
// //ODE_API
// public abstract void dMassSetZero (dMass m);
//
// //ODE_API
// public abstract void dMassSetParameters (dMass m, double themass,
// double cgx, double cgy, double cgz,
// double I11, double I22, double I33,
// double I12, double I13, double I23);
//
// //ODE_API
// public abstract void dMassSetSphere (dMass m, double density, double radius);
// //ODE_API
// public abstract void dMassSetSphereTotal (dMass m, double total_mass, double radius);
//
// //ODE_API
// public abstract void dMassSetCapsule (dMass m, double density, int direction,
// double radius, double length);
// //ODE_API
// public abstract void dMassSetCapsuleTotal (dMass m, double total_mass, int direction,
// double radius, double length);
//
// //ODE_API
// public abstract void dMassSetCylinder (dMass m, double density, int direction,
// double radius, double length);
// //ODE_API
// public abstract void dMassSetCylinderTotal (dMass m, double total_mass, int direction,
// double radius, double length);
//
// //ODE_API
// public abstract void dMassSetBox (dMass m, double density,
// double lx, double ly, double lz);
// //ODE_API
// public abstract void dMassSetBoxTotal (dMass m, double total_mass,
// double lx, double ly, double lz);
//
// //ODE_API
// public abstract void dMassSetTrimesh (dMass m, double density, dxGeom g);
//
// //ODE_API
// public abstract void dMassSetTrimeshTotal (dMass m, double total_mass, dxGeom g);
//
// //ODE_API
// public abstract void dMassAdjust (dMass m, double newmass);
//
// //ODE_API
// public abstract void dMassTranslate (dMass m, double x, double y, double z);
//
// //ODE_API v
// public abstract void dMassRotate (dMass m, final dMatrix3 R);
//
// //ODE_API
// public abstract void dMassAdd (dMass a, final dMass b);
// Backwards compatible API
//#define dMassSetCappedCylinder dMassSetCapsule
//#define dMassSetCappedCylinderTotal dMassSetCapsuleTotal
// protected void setZero()
// { dMassSetZero (this); }
//
// protected void setParameters (double themass, double cgx, double cgy, double cgz,
// double I11, double I22, double I33,
// double I12, double I13, double I23)
// { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
//
// protected void setSphere (double density, double radius)
// { dMassSetSphere (this,density,radius); }
//
// protected void setCapsule (double density, int direction, double a, double b)
// // { dMassSetCappedCylinder (this,density,direction,a,b); }
// { dMassSetCapsule (this,density,direction,a,b); }
//
// protected void setCappedCylinder (double density, int direction, double a, double b)
// { setCapsule(density, direction, a, b); }
//
// public void setBox (double density, double lx, double ly, double lz)
// { dMassSetBox (this,density,lx,ly,lz); }
//
// public void adjust (double newmass)
// { dMassAdjust (this,newmass); }
//
// protected void translate (double x, double y, double z)
// { dMassTranslate (this,x,y,z); }
//
// protected void rotate (final dMatrix3 R)
// { dMassRotate (this,R); }
//
// protected void add (final dMass b)
// { dMassAdd (this,b); }
//
// //by TZ
// public abstract dVector3 getC();
//
// //by TZ
// public abstract double getMass();
//
// //by TZ
// public abstract void setMass(double d);
//
// //by TZ
// public abstract dMatrix3 getI();
//
// public abstract void setC(dVector3 c);
//
// public abstract void setI(dMatrix3 I);
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