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rdBody.h

// rdBody.cpp
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2000 Realistic Dynamics, Inc.
// All rights reserved.
//
// CONFIDENTIAL
//
// The material contain within this file is the sole property of
// Realistic Dynamics, Inc., and may not be read, copied, or distributed
// without the expressed writen consent of Realistic Dynamics, Inc.
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "rdModel.h"
//============================================================================
#ifndef __rdBody_h__
#define __rdBody_h__



//=============================================================================
//=============================================================================
class RDSIMULATION_API rdBody  
{

//=============================================================================
// DATA
//=============================================================================
private:
   double _M;
   double _I[6];

//=============================================================================
// METHODS
//=============================================================================
public:
   rdBody(double aM=1.0,double *aI=NULL);
   virtual ~rdBody();

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   void setMass(double aM);
   double getMass();
   void setInertia(double *aI);
   void setInertia(double I1,double I2,double I3);
   void setInertia(double I1,double I2,double I3,
         double I12,double I23,double I31);
   void getInertia(double aI[6]);
   void getInertia(double aI[3][3]);

};

#endif //__rdBody_h__

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