deMassProp Class Reference
[Utility]

Compute Mass parameters. More...

#include <deMassProp.h>

Collaboration diagram for deMassProp:

[legend]List of all members.

Public Member Functions

deMassProp ()

constructor

void zero ()

set members to zero

void set (const deFloat *mass, const deVector3 *center, const deMatrix3 *inertia)

set members with given values

void get (deFloat *mass, deVector3 *center, deMatrix3 *inertia)

get member values

deInt isDensity (deFloat m)

indicates if m is a density.

fetching methods

return current mass parameters.

deFloat * mass ()

deMatrix3 * inertia ()

deVector3 * center ()

updating methods

set general mass/inertia parameters for a body defined in the current reference frame.

Remarks:: Calls are accumulative.

Parameters:

new frame of reference. NULL indicates the identity matrix..

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)

mass/inertia definitions of homogeneous bodies

specify mass parameters for various homogeneous bodies. With the center of mass located at the current reference frame.

Remarks:: Calls are accumulative.

Parameters:

new frame of reference. NULL indicates the identity matrix..

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)

resetting methods

reset mass properties

void scale (const deFloat m)

Detailed Description

Compute Mass parameters.

Constructor & Destructor Documentation

deMassProp::deMassProp ( ) [inline]

constructor

Member Function Documentation

void deMassProp::block ( const deFloat mp,

const deFloat a,

const deFloat b,

const deFloat c,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous block with center of mass at the current frame.
Parameters:

mp mass (density if dedensity(deFloat)) of block.

a width of base of block along the x-axis.

b length of base of block along the y-axis.

c height of base of block along the z-axis.

deVector3* deMassProp::center ( ) [inline]

return center of mass of object as seen from objects local frame.

void deMassProp::cone ( const deFloat mp,

const deFloat h,

const deFloat r,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous cone with center of mass at the current frame. The center of mass of a cone is located h/4 from base in z
Parameters:

mp mass (density if dedensity(deFloat)) of cone.

h total height of cone in z-axis.

r radius of the base of the cone.

void deMassProp::coneShell ( const deFloat mp,

const deFloat h,

const deFloat r,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous infinitely thin cone with no base. The center of mass located at the current frame is (1/3)*h from base in z.
Parameters:

mp mass (surface density if dedensity(deFloat)).

h total height of cone shell h in z-axis.

r radius of the base of the cone shell.

void deMassProp::cylinder ( const deFloat mp,

const deFloat h,

const deFloat r,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous cylinder with center of mass at the current frame.
Parameters:

mp mass (density if dedensity(deFloat)) of cylinder.

h total height of cylinder in z-axis.

r radius of the cylinder.

void deMassProp::cylinderShell ( const deFloat mp,

const deFloat h,

const deFloat r,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous infinitely thin cylinder with no caps, with center of mass at the current frame.
Parameters:

mp mass (surface density if dedensity(deFloat)).

h total height of cylinder shell in z-axis.

r radius of the cylinder shell.

void deMassProp::disk ( const deFloat mp,

const deFloat r,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous two dimensional flat disk with center of mass at the current frame. The disk has zero height in the z-axis.
Parameters:

mp mass (surface density if dedensity(deFloat)).

r radius of disk.

void deMassProp::ellipsoid ( const deFloat mp,

const deFloat a,

const deFloat b,

const deFloat c,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous ellipsoid with center of mass at the current frame.
Parameters:

mp mass (density if dedensity(deFloat)) of ellipsoid.

a length of major axis along the x-axis, one half total width

b length of major axis along the y-axis, one half total length

c length of major axis along the z-axis, one half total height

void deMassProp::get ( deFloat * mass,

deVector3 * center,

deMatrix3 * inertia

) [inline]

get member values

void deMassProp::hemisphere ( const deFloat mp,

const deFloat r,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous half sphere (hemisphere) with center of mass at the current frame. The center of mass of a hemisphere is located (3/8)*r from base in z
Parameters:

mp mass (density if dedensity(deFloat)) of hemisphere.

r radius of hemisphere.

void deMassProp::hemisphereShell ( const deFloat mp,

const deFloat r,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous infinitely thin half sphere (hemisphere) with no base. The center of mass located at the current frame is r/2 from the base of the hemisphere in the z-axis.
Parameters:

mp mass (surface density if dedensity(deFloat)).

r radius of the hemisphere.

void deMassProp::inertia ( const deFloat Ixx,

const deFloat Iyy,

const deFloat Izz,

const deFrame * f = NULL

)

add an inertia tensor specified by its diagonal (Ixx, Iyy, Izz).

void deMassProp::inertia ( const deVector3 * diag,

const deFrame * f = NULL

)

add an inertia tensor specified by its diagonal diag = (Ixx, Iyy, Izz).

void deMassProp::inertia ( const deMatrix3 * inertia,

const deFrame * f = NULL

)

add an inertia tensor inertia specified by a 3x3 matrix at the current frame of reference.

deMatrix3* deMassProp::inertia ( ) [inline]

return inertia of object as seen from objects local frame.

deInt deMassProp::isDensity ( deFloat m ) [inline]

indicates if m is a density.

Remarks:
negative m indicates m is a density.

Return values:

0 if m represents a mass

1 if m represents a density

void deMassProp::mass ( const deFloat m,

const deFrame * f = NULL

)

add a point mass of mass m at a point at the origin of the reference frame. Set frame of reference to be used when specifying a objects mass/inertial properties.

deFloat* deMassProp::mass ( ) [inline]

return mass of object.

void deMassProp::plate ( const deFloat mp,

const deFloat a,

const deFloat b,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous two dimensional flat square plate with center of mass at the current frame. The plate has zero height in the z-axis.
Parameters:

mp mass (surface density if dedensity(deFloat)).

a total width of the in the x-axis .

b total width of the in the y-axis .

void deMassProp::pyramid ( const deFloat mp,

const deFloat a,

const deFloat b,

const deFloat h,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous four sided pyramid with center of mass at the current frame. The center of mass of a pyramid is located h/4 from base in z
Parameters:

mp mass (density if dedensity(deFloat)) of pyramid.

a width of base of pyramid along the x-axis.

b length of base of pyramid along the y-axis.

h total height of pyramid h in z-axis.

void deMassProp::rod ( const deFloat mp,

const deFloat l,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous one dimensional rod having total length l with center of mass at the current frame. The center of mass of a rod is located half way along its length.
Parameters:

mp mass (linear density if dedensity(deFloat)).

l total length of the rod along the z-axis.

void deMassProp::scale ( const deFloat m )

homogenously scale the mass properities of a given object until total mass equals m.

void deMassProp::set ( const deFloat * mass,

const deVector3 * center,

const deMatrix3 * inertia

) [inline]

set members with given values

void deMassProp::sphere ( const deFloat mp,

const deFloat r,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous sphere with center of mass at the current frame.
Parameters:

mp mass (density if dedensity(deFloat)) of sphere.

r radius of sphere.

void deMassProp::sphereShell ( const deFloat mp,

const deFloat r,

const deFrame * f = NULL

)

Specify the mass parameters to a homogeneous infinitely thin sphere, with center of mass at the current frame.
Parameters:

mp mass (surface density if dedensity(deFloat)).

r radius of the sphere.

void deMassProp::zero ( ) [inline]

set members to zero

The documentation for this class was generated from the following files:

Generated on Sun Apr 9 22:12:45 2006 for TAO by

1.4.6-NO

deMassProp Class Reference [Utility]

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

deMassProp Class Reference
[Utility]