TaoDeMassProp.h

/* Copyright (c) 2005 Arachi, Inc. and Stanford University. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _deMassProp_h
#define _deMassProp_h

#include <tao/matrix/TaoDeTypes.h>
#include <tao/matrix/TaoDeMath.h>

//  @{
#define DE_DENSITY_AIR        (-1.2062f)
#define DE_DENSITY_ALUMINUM     (-2690.0f)
#define DE_DENSITY_CONCRETE     (-2400.0f)
#define DE_DENSITY_COPPER     (-8910.0f)
#define DE_DENSITY_EARTH_WET    (-1760.0f)
#define DE_DENSITY_EARTH_DRY    (-1280.0f)
#define DE_DENSITY_GLASS      (-2590.0f)
#define DE_DENSITY_GOLD       (-19300.0f)
#define DE_DENSITY_ICE        (-900.0f)
#define DE_DENSITY_IRON       (-7210.0f)
#define DE_DENSITY_LEAD       (-11370.0f)
#define DE_DENSITY_MERCURY      (-13570.0f)
#define DE_DENSITY_OIL        (-900.0f)
#define DE_DENSITY_STEEL      (-7830.0f)
#define DE_DENSITY_TITANIUM     (-3080.0f)
#define DE_DENSITY_WATER      (-1000.0f)
#define DE_DENSITY_WATER_SALT   (-1030.0f)
#define DE_DENSITY_WOOD_SOFTPINE  (-480.0f)
#define DE_DENSITY_WOOD_HARDOAK   (-800.0f)
//  @}

class deMassProp
{
  public:
    inline deMassProp() { zero(); }
  
    inline deMassProp(deMassProp const & orig) {
      _m = orig._m;
      _center = orig._center;
      _inertia = orig._inertia;
    }
  
    void zero() {
      _m = 0;
      _center.zero();
      _inertia.zero();
    }
    void set(const deFloat* mass, const deVector3* center, const deMatrix3* inertia)
    {
      _m = *mass;
      _center = *center;
      _inertia = *inertia;
    }
    void get(deFloat* mass, deVector3* center, deMatrix3* inertia) const
    {
      *mass = _m;
      *center = _center;
      *inertia = _inertia;
    }
    deInt isDensity(deFloat m) { return (m < 0); }

    deFloat* mass() { return &_m; }
    deFloat const * mass() const { return &_m; }
  
    deMatrix3* inertia() { return &_inertia; }
    deMatrix3 const * inertia() const { return &_inertia; }

    deVector3* center() { return &_center; }
    deVector3 const * center() const { return &_center; }

    void mass(const deFloat m, const deFrame* f = NULL);
    void inertia(const deMatrix3* inertia, const deFrame* f = NULL);
    void inertia(const deVector3* diag, const deFrame* f = NULL); 
    void inertia(const deFloat Ixx,const deFloat Iyy,const deFloat Izz, const deFrame* f = NULL);
    void cylinder(const deFloat mp, const deFloat h, const deFloat r, const deFrame* f = NULL);
    void cone(const deFloat mp, const deFloat h, const deFloat r, const deFrame* f = NULL);
    void pyramid(const deFloat mp, const deFloat a, const deFloat b, const deFloat h, const deFrame* f = NULL);
    void block(const deFloat mp, const deFloat a, const deFloat b, const deFloat c, const deFrame* f = NULL);
    void sphere(const deFloat mp, const deFloat r, const deFrame* f = NULL);
    void hemisphere(const deFloat mp, const deFloat r, const deFrame* f = NULL);
    void ellipsoid(const deFloat mp, const deFloat a, const deFloat b, const deFloat c, const deFrame* f = NULL);
    void rod(const deFloat mp, const deFloat l, const deFrame* f = NULL);
    void disk(const deFloat mp, const deFloat r, const deFrame* f = NULL);
    void plate(const deFloat mp, const deFloat a, const deFloat b, const deFrame* f = NULL);
    void cylinderShell(const deFloat mp, const deFloat h, const deFloat r, const deFrame* f = NULL);
    void coneShell(const deFloat mp, const deFloat h, const deFloat r, const deFrame* f = NULL);
    void sphereShell(const deFloat mp, const deFloat r, const deFrame* f = NULL);
    void hemisphereShell(const deFloat mp, const deFloat r, const deFrame* f = NULL);
    void scale(const deFloat m); 

  private:
    deFloat _m;
    deVector3 _center;
    deMatrix3 _inertia;
};
#endif