org.ode4j.ode
Interface DMass

All Superinterfaces:

DMassC

public interface DMass
extends DMassC

Method Summary

void	add(DMassC b)
void	adjust(double newmass)
boolean	check() Check if a mass structure has valid value.
DVector3C	getC()
DMatrix3C	getI()
double	getMass()
void	rotate(DMatrix3C R)
void	setBox(double density, double lx, double ly, double lz)
void	setBoxTotal(double total, double lx, double ly, double lz)
void	setC(DVector3C c)
void	setCapsule(double density, int direction, double radius, double length)
void	setCapsuleTotal(double total, int direction, double radius, double length)
void	setCylinder(double density, int direction, double radius, double length)
void	setCylinderTotal(double total, int direction, double radius, double length)
void	setI(DMatrix3C I)
void	setMass(double d)
void	setParameters(double themass, 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, double radius)
void	setTrimesh(double density, DTriMesh geom)
void	setTrimeshTotal(double total, DTriMesh geom)
void	setZero()
void	translate(double x, double y, double z)
void	translate(DVector3C c)

Method Detail

setZero

void setZero()

setParameters

void setParameters(double themass,
                   double cgx,
                   double cgy,
                   double cgz,
                   double I11,
                   double I22,
                   double I33,
                   double I12,
                   double I13,
                   double I23)

setSphere

void setSphere(double density,
               double radius)

setSphereTotal

void setSphereTotal(double total,
                    double radius)

setTrimesh

void setTrimesh(double density,
                DTriMesh geom)

setTrimeshTotal

void setTrimeshTotal(double total,
                     DTriMesh geom)

setCapsule

void setCapsule(double density,
                int direction,
                double radius,
                double length)

Parameters:

direction - 1=x; 2=y; 3=z

setCapsuleTotal

void setCapsuleTotal(double total,
                     int direction,
                     double radius,
                     double length)

Parameters:

direction - 1=x; 2=y; 3=z

setCylinder

void setCylinder(double density,
                 int direction,
                 double radius,
                 double length)

Parameters:

direction - 1=x; 2=y; 3=z

setCylinderTotal

void setCylinderTotal(double total,
                      int direction,
                      double radius,
                      double length)

Parameters:

direction - 1=x; 2=y; 3=z

setBox

void setBox(double density,
            double lx,
            double ly,
            double lz)

setBoxTotal

void setBoxTotal(double total,
                 double lx,
                 double ly,
                 double lz)

adjust

void adjust(double newmass)

translate

void translate(double x,
               double y,
               double z)

translate

void translate(DVector3C c)

rotate

void rotate(DMatrix3C R)

add

void add(DMassC b)

getMass

double getMass()

Specified by:

getMass in interface DMassC

setMass

void setMass(double d)

getC

DVector3C getC()

Specified by:

getC in interface DMassC

getI

DMatrix3C getI()

Specified by:

getI in interface DMassC

setC

void setC(DVector3C c)

setI

void setI(DMatrix3C I)

check

boolean check()

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

Specified by:

check in interface DMassC

Returns:

true if both condition are met