org.ode4j.cpp.internal
Class ApiCppMass

java.lang.Object
  org.ode4j.cpp.internal.ApiCppTimer
      org.ode4j.cpp.internal.ApiCppCollisionTrimesh
          org.ode4j.cpp.internal.ApiCppCollisionSpace
              org.ode4j.cpp.internal.ApiCppCollision
                  org.ode4j.cpp.internal.ApiCppExportDIF
                      org.ode4j.cpp.internal.ApiCppOdeInit
                          org.ode4j.cpp.internal.ApiCppMass

Direct Known Subclasses:

ApiCppOther

public abstract class ApiCppMass
extends ApiCppOdeInit

Nested Class Summary

Nested classes/interfaces inherited from class org.ode4j.cpp.internal.ApiCppCollision

ApiCppCollision.dAABBTestFn, ApiCppCollision.dGeomClass, ApiCppCollision.dGeomDtorFn, ApiCppCollision.dGetAABBFn, ApiCppCollision.dGetColliderFnFn

Field Summary

Fields inherited from class org.ode4j.cpp.internal.ApiCppCollisionSpace

dSAP_AXES_XYZ, dSAP_AXES_XZY, dSAP_AXES_YXZ, dSAP_AXES_YZX, dSAP_AXES_ZXY, dSAP_AXES_ZYX

Constructor Summary

ApiCppMass()

Method Summary

static void	dMassAdd(DMass m, DMassC b)
static void	dMassAdjust(DMass m, double newmass)
static boolean	dMassCheck(DMassC m) Check if a mass structure has valid value.
static DMass	dMassCreate() Not in the original API.
static void	dMassRotate(DMass m, DMatrix3C R)
static void	dMassSetBox(DMass m, double density, double lx, double ly, double lz)
static void	dMassSetBoxTotal(DMass m, double total_mass, double lx, double ly, double lz)
static void	dMassSetCapsule(DMass m, double density, int direction, double radius, double length)
static void	dMassSetCapsuleTotal(DMass m, double total, int direction, double radius, double length)
static void	dMassSetCylinder(DMass m, double density, int direction, double radius, double length)
static void	dMassSetCylinderTotal(DMass m, double total, int direction, double radius, double length)
static void	dMassSetParameters(DMass m, double themass, double cgx, double cgy, double cgz, double I11, double I22, double I33, double I12, double I13, double I23)
static void	dMassSetSphere(DMass m, double density, double radius)
static void	dMassSetSphereTotal(DMass m, double total, double radius)
static void	dMassSetTrimesh(DMass m, double density, DTriMesh g)
static void	dMassSetTrimeshTotal(DMass m, double total_mass, DTriMesh g)
static void	dMassSetZero(DMass m)
static void	dMassTranslate(DMass m, double x, double y, double z)

Methods inherited from class org.ode4j.cpp.internal.ApiCppOdeInit

dAllocateODEDataForThread, dCloseODE, dInitODE, dInitODE2

Methods inherited from class org.ode4j.cpp.internal.ApiCppExportDIF

dWorldExportDIF

Methods inherited from class org.ode4j.cpp.internal.ApiCppCollision

dBoxBox, dBoxTouchesBox, dCollide, dCreateBox, dCreateCapsule, dCreateConvex, dCreateCylinder, dCreateGeomTransform, dCreateHeightfield, dCreatePlane, dCreateRay, dCreateSphere, dGeomBoxGetLengths, dGeomBoxPointDepth, dGeomBoxSetLengths, dGeomCapsuleGetParams, dGeomCapsulePointDepth, dGeomCapsuleSetParams, dGeomClearOffset, dGeomCopyOffsetPosition, dGeomCopyOffsetRotation, dGeomCopyPosition, dGeomCopyRotation, dGeomCylinderGetParams, dGeomCylinderSetParams, dGeomDestroy, dGeomDisable, dGeomEnable, dGeomGetAABB, dGeomGetBody, dGeomGetCategoryBits, dGeomGetClass, dGeomGetCollideBits, dGeomGetData, dGeomGetOffsetPosition, dGeomGetOffsetQuaternion, dGeomGetOffsetRotation, dGeomGetPosition, dGeomGetQuaternion, dGeomGetRotation, dGeomGetSpace, dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataCreate, dGeomHeightfieldDataDestroy, dGeomHeightfieldDataSetBounds, dGeomHeightfieldGetHeightfieldData, dGeomHeightfieldSetHeightfieldData, dGeomIsEnabled, dGeomIsOffset, dGeomIsSpace, dGeomPlaneGetParams, dGeomPlanePointDepth, dGeomPlaneSetParams, dGeomRayGet, dGeomRayGetClosestHit, dGeomRayGetLength, dGeomRayGetParams, dGeomRaySet, dGeomRaySetClosestHit, dGeomRaySetLength, dGeomRaySetParams, dGeomSetBody, dGeomSetCategoryBits, dGeomSetCollideBits, dGeomSetConvex, dGeomSetData, dGeomSetOffsetPosition, dGeomSetOffsetQuaternion, dGeomSetOffsetRotation, dGeomSetOffsetWorldPosition, dGeomSetOffsetWorldQuaternion, dGeomSetOffsetWorldRotation, dGeomSetPosition, dGeomSetQuaternion, dGeomSetRotation, dGeomSphereGetRadius, dGeomSpherePointDepth, dGeomSphereSetRadius, dGeomTransformGetGeom, dGeomTransformSetCleanup, dGeomTransformSetGeom, dSetColliderOverride, dSpaceCollide, dSpaceCollide2

Methods inherited from class org.ode4j.cpp.internal.ApiCppCollisionSpace

dHashSpaceCreate, dHashSpaceGetLevels, dHashSpaceSetLevels, dQuadTreeSpaceCreate, dSimpleSpaceCreate, dSpaceAdd, dSpaceClean, dSpaceDestroy, dSpaceGetCleanup, dSpaceGetGeom, dSpaceGetManualCleanup, dSpaceGetNumGeoms, dSpaceGetSublevel, dSpaceQuery, dSpaceRemove, dSpaceSetCleanup, dSpaceSetManualCleanup, dSpaceSetSublevel, dSweepAndPruneSpaceCreate

Methods inherited from class org.ode4j.cpp.internal.ApiCppCollisionTrimesh

dCreateTriMesh, dGeomTriMeshDataBuildSingle, dGeomTriMeshDataCreate, dGeomTriMeshDataDestroy, dGeomTriMeshSetLastTransform

Methods inherited from class org.ode4j.cpp.internal.ApiCppTimer

dTimerEnd, dTimerNow, dTimerReport, dTimerStart

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ApiCppMass

public ApiCppMass()

Method Detail

dMassCreate

public static DMass dMassCreate()

Not in the original API. By TZ.

dMassCheck

public static boolean dMassCheck(DMassC m)

Check if a mass structure has valid value. The function check if the mass and inertia matrix are positive definits

Parameters:

m - A mass structure to check

Returns:

1 if both condition are met

dMassSetZero

public static void dMassSetZero(DMass m)

dMassSetParameters

public static void dMassSetParameters(DMass m,
                                      double themass,
                                      double cgx,
                                      double cgy,
                                      double cgz,
                                      double I11,
                                      double I22,
                                      double I33,
                                      double I12,
                                      double I13,
                                      double I23)

dMassSetSphere

public static void dMassSetSphere(DMass m,
                                  double density,
                                  double radius)

dMassSetSphereTotal

public static void dMassSetSphereTotal(DMass m,
                                       double total,
                                       double radius)

dMassSetCapsule

public static void dMassSetCapsule(DMass m,
                                   double density,
                                   int direction,
                                   double radius,
                                   double length)

dMassSetCapsuleTotal

public static void dMassSetCapsuleTotal(DMass m,
                                        double total,
                                        int direction,
                                        double radius,
                                        double length)

dMassSetCylinder

public static void dMassSetCylinder(DMass m,
                                    double density,
                                    int direction,
                                    double radius,
                                    double length)

dMassSetCylinderTotal

public static void dMassSetCylinderTotal(DMass m,
                                         double total,
                                         int direction,
                                         double radius,
                                         double length)

dMassSetBox

public static void dMassSetBox(DMass m,
                               double density,
                               double lx,
                               double ly,
                               double lz)

dMassSetBoxTotal

public static void dMassSetBoxTotal(DMass m,
                                    double total_mass,
                                    double lx,
                                    double ly,
                                    double lz)

dMassSetTrimesh

public static void dMassSetTrimesh(DMass m,
                                   double density,
                                   DTriMesh g)

dMassSetTrimeshTotal

public static void dMassSetTrimeshTotal(DMass m,
                                        double total_mass,
                                        DTriMesh g)

dMassAdjust

public static void dMassAdjust(DMass m,
                               double newmass)

dMassTranslate

public static void dMassTranslate(DMass m,
                                  double x,
                                  double y,
                                  double z)

dMassRotate

public static void dMassRotate(DMass m,
                               DMatrix3C R)

dMassAdd

public static void dMassAdd(DMass m,
                            DMassC b)