deMassProp.h

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/* Copyright (c) 2005 Arachi, Inc. and Stanford University.
 *
 * 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 "deTypes.h"
#include "deMath.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:
        deMassProp() { zero(); }
        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)
        {
                *mass = _m;
                *center = _center;
                *inertia = _inertia;
        }
        deInt isDensity(deFloat m) { return (m < 0); }

        deFloat* mass() { return &_m; }
        deMatrix3* inertia() { return &_inertia; }
        deVector3* center() { 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

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