Function dBodySetMass

3rd_party/Src/ode/ode/src/ode.cpp:428–437

void dBodySetMass (dBodyID b, const dMass *mass)
{
  dAASSERT (b && mass);
  memcpy (&b->mass,mass,sizeof(dMass));
  if (dInvertPDMatrix (b->mass.I,b->invI,3)==0) {
    dDEBUGMSG ("inertia must be positive definite");
    dRSetIdentity (b->invI);
  }
  b->invMass = dRecip(b->mass.mass);
}


void dBodyGetMass (dBodyID b, dMass *mass)