File affine_body_from_rigid_body.h

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#pragma once
#include <uipc/common/type_define.h>
#include <uipc/common/dllexport.h>

namespace uipc::geometry::affine_body
{
UIPC_GEOMETRY_API Matrix12x12 from_rigid_body(
    Float            mass,
    const Vector3&   center_of_mass,
    const Matrix3x3& inertia_cm);

UIPC_GEOMETRY_API Matrix12x12 build_abd_mass_matrix(
    Float             m,
    const Vector3&    m_x_bar,
    const Matrix3x3&  m_x_bar_x_bar);

UIPC_GEOMETRY_API void to_rigid_body(Float             m,
                                     const Vector3&    m_x_bar,
                                     const Matrix3x3&  m_x_bar_x_bar,
                                     Float&            total_mass,
                                     Vector3&          center_of_mass,
                                     Matrix3x3&        inertia_cm);

UIPC_GEOMETRY_API void to_rigid_body(const Matrix12x12& mass_matrix,
                                     Float&             total_mass,
                                     Vector3&           center_of_mass,
                                     Matrix3x3&         inertia_cm);
}  // namespace uipc::geometry::affine_body