| 82 | |
| 83 | |
| 84 | void dMassSetParameters (dMass *m, dReal themass, |
| 85 | dReal cgx, dReal cgy, dReal cgz, |
| 86 | dReal I11, dReal I22, dReal I33, |
| 87 | dReal I12, dReal I13, dReal I23) |
| 88 | { |
| 89 | dAASSERT (m); |
| 90 | dMassSetZero (m); |
| 91 | m->mass = themass; |
| 92 | m->c[0] = cgx; |
| 93 | m->c[1] = cgy; |
| 94 | m->c[2] = cgz; |
| 95 | m->_I(0,0) = I11; |
| 96 | m->_I(1,1) = I22; |
| 97 | m->_I(2,2) = I33; |
| 98 | m->_I(0,1) = I12; |
| 99 | m->_I(0,2) = I13; |
| 100 | m->_I(1,2) = I23; |
| 101 | m->_I(1,0) = I12; |
| 102 | m->_I(2,0) = I13; |
| 103 | m->_I(2,1) = I23; |
| 104 | checkMass (m); |
| 105 | } |
| 106 | |
| 107 | |
| 108 | void dMassSetSphere (dMass *m, dReal density, dReal radius) |
no test coverage detected