Panda3D
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00001 // Filename: odeMass.h 00002 // Created by: joswilso (27Dec06) 00003 // 00004 //////////////////////////////////////////////////////////////////// 00005 // 00006 // PANDA 3D SOFTWARE 00007 // Copyright (c) Carnegie Mellon University. All rights reserved. 00008 // 00009 // All use of this software is subject to the terms of the revised BSD 00010 // license. You should have received a copy of this license along 00011 // with this source code in a file named "LICENSE." 00012 // 00013 //////////////////////////////////////////////////////////////////// 00014 00015 #ifndef ODEMASS_H 00016 #define ODEMASS_H 00017 00018 #include "pandabase.h" 00019 #include "typedReferenceCount.h" 00020 #include "luse.h" 00021 00022 #include "ode_includes.h" 00023 00024 //////////////////////////////////////////////////////////////////// 00025 // Class : OdeMass 00026 // Description : 00027 //////////////////////////////////////////////////////////////////// 00028 class EXPCL_PANDAODE OdeMass : public TypedReferenceCount { 00029 PUBLISHED: 00030 OdeMass(); 00031 OdeMass(const OdeMass ©); 00032 virtual ~OdeMass(); 00033 00034 INLINE int check(); 00035 INLINE void set_zero(); 00036 INLINE void set_parameters(dReal themass, 00037 dReal cgx, dReal cgy, dReal cgz, 00038 dReal I11, dReal I22, dReal I33, 00039 dReal I12, dReal I13, dReal I23); 00040 INLINE void set_parameters(dReal themass, 00041 const LVecBase3f ¢er, 00042 const LMatrix3f &r); 00043 INLINE void set_sphere(dReal density, dReal radius); 00044 INLINE void set_sphere_total(dReal total_mass, dReal radius); 00045 INLINE void set_capsule(dReal density, int direction, 00046 dReal radius, dReal length); 00047 INLINE void set_capsule_total(dReal total_mass, int direction, 00048 dReal radius, dReal length); 00049 INLINE void set_cylinder(dReal density, int direction, 00050 dReal radius, dReal length); 00051 INLINE void set_cylinder_total(dReal total_mass, int direction, 00052 dReal radius, dReal length); 00053 INLINE void set_box(dReal density, 00054 dReal lx, dReal ly, dReal lz); 00055 INLINE void set_box(dReal density, 00056 const LVecBase3f &size); 00057 INLINE void set_box_total(dReal total_mass, 00058 dReal lx, dReal ly, dReal lz); 00059 INLINE void set_box_total(dReal total_mass, 00060 const LVecBase3f &size); 00061 INLINE void adjust(dReal newmass); 00062 INLINE void translate(dReal x, dReal y, dReal z); 00063 INLINE void translate(const LVecBase3f &pos); 00064 INLINE void rotate(const LMatrix3f &r); 00065 INLINE void add(OdeMass &other); 00066 00067 INLINE dReal get_magnitude() const; 00068 INLINE LPoint3f get_center() const; 00069 INLINE LMatrix3f get_inertial_tensor() const; 00070 00071 virtual void write(ostream &out = cout, unsigned int indent=0) const; 00072 00073 public: 00074 dMass* get_mass_ptr(); 00075 00076 private: 00077 void operator = (const OdeMass ©); 00078 dMass _mass; 00079 00080 public: 00081 static TypeHandle get_class_type() { 00082 return _type_handle; 00083 } 00084 static void init_type() { 00085 TypedReferenceCount::init_type(); 00086 register_type(_type_handle, "OdeMass", 00087 TypedReferenceCount::get_class_type()); 00088 } 00089 virtual TypeHandle get_type() const { 00090 return get_class_type(); 00091 } 00092 virtual TypeHandle force_init_type() {init_type(); return get_class_type();} 00093 00094 private: 00095 static TypeHandle _type_handle; 00096 }; 00097 00098 #include "odeMass.I" 00099 00100 #endif