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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 | // Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.1 (2010/10/01)
#ifndef WM5POLYHEDRALMASSPROPERTIES_H
#define WM5POLYHEDRALMASSPROPERTIES_H
#include "Wm5PhysicsLIB.h"
#include "Wm5Matrix3.h"
namespace Wm5
{
// The input triangle mesh must represent a polyhedron. The triangles are
// represented as triples of indices <V0,V1,V2> into the vertex array.
// The index array has numTriangles such triples. The Boolean value
// bodyCoords is 'true' if you want the inertia tensor to be relative to
// body coordinates, 'false' if you want it in world coordinates.
//
// NOTE: The code assumes the rigid body has a constant density of 1. If
// your application assigns a constant density of 'd', then you must multiply
// the output rfMass by 'd' and the output rkInertia by 'd'.
template <typename Real> WM5_PHYSICS_ITEM
void ComputeMassProperties (const Vector3<Real>* vertices, int numTriangles,
const int* indices, bool bodyCoords, Real& mass,
Vector3<Real>& center, Matrix3<Real>& inertia);
}
#endif
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