Danbias/Code/OysterPhysics3D/OysterPhysics3D.h

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/////////////////////////////////////////////////////////////////////
// Created by Dan Andersson 2013
/////////////////////////////////////////////////////////////////////
#ifndef OYSTER_PHYSICS_3D_H
#define OYSTER_PHYSICS_3D_H
#include "OysterMath.h"
namespace Oyster { namespace Physics3D
{ /// Library of 3D physics related components, alghorithms and formulas
namespace Formula
{ /// Library of 3D physics related formulas
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/******************************************************************
* Returns the linear momentum of a mass in motion.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float4 LinearMomentum( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float4 &linearVelocity )
{
return linearVelocity * mass;
}
/******************************************************************
* Returns the linear momentum of a mass in motion.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float4 LinearVelocity( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float4 &linearMomentum )
{
return linearMomentum / mass;
}
/******************************************************************
* Returns the world angular momentum of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float4 AngularMomentum( const ::Oyster::Math::Float4 linearMomentum, const ::Oyster::Math::Float4 &worldOffset )
{
return ::Oyster::Math::Float4( worldOffset.xyz.Cross(linearMomentum.xyz), 0.0f );
}
/******************************************************************
* Returns the world angular momentum of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float4 AngularMomentum( const ::Oyster::Math::Float4x4 &worldMomentOfInertia, const ::Oyster::Math::Float4 &angularVelocity )
{
return worldMomentOfInertia * angularVelocity;
}
/******************************************************************
* Returns the world angular velocity of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float4 AngularVelocity( const ::Oyster::Math::Float4x4 &worldMomentOfInertiaInversed, const ::Oyster::Math::Float4 &angularMomentum )
{
return worldMomentOfInertiaInversed * angularMomentum;
}
/******************************************************************
* Returns the world tangential momentum at worldPos, of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float4 TangentialLinearMomentum( const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &worldOffset )
{
return ::Oyster::Math::Float4( angularMomentum.xyz.Cross(worldOffset.xyz), 0.0f ) /= worldOffset.Dot( worldOffset );
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}
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/******************************************************************
* Returns the linear kinetic energy of a mass in motion.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float LinearKineticEnergy( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearVelocity )
{
return (0.5f * mass) * linearVelocity.Dot( linearVelocity );
}
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/******************************************************************
* Returns the angular kinetic energy of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float AngularKineticEnergy( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
{
return (0.5f * momentOfInertia) * angularVelocity.Dot( angularVelocity );
}
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/******************************************************************
* Returns the linear momentum of a mass in motion.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 LinearMomentum( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearVelocity )
{
return mass * linearVelocity;
}
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/******************************************************************
* Returns the linear velocity of a mass with momentum.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 LinearVelocity( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearMomentum )
{
return linearMomentum / mass;
}
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/******************************************************************
* Returns the world angular momentum of a mass in rotation.
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* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
{
return ( momentOfInertia * ::Oyster::Math::Float4(angularVelocity, 0.0f) ).xyz;
}
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/******************************************************************
* Returns the world angular momentum of a mass in rotation.
* H = r x G
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float3 linearMomentum, const ::Oyster::Math::Float3 &worldOffset )
{
return worldOffset.Cross( linearMomentum );
}
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/******************************************************************
* Returns the world tangential momentum at worldPos, of a mass in rotation.
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* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset )
{
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return angularMomentum.Cross( worldOffset ) /= worldOffset.Dot( worldOffset );
}
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/******************************************************************
* Returns the world tangential momentum at worldPos, of a mass in rotation.
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* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
{
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return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), worldOffset ) /= worldOffset.Dot( worldOffset );
}
/******************************************************************
* Returns the world impulse force at worldPos, of a mass in angular acceleration.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &worldOffset )
{
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return impulseTorque.Cross( worldOffset ) /= worldOffset.Dot( worldOffset );
}
/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &impulseTorque )
{
return ( momentOfInertiaInversed * ::Oyster::Math::Float4( impulseTorque, 0.0f ) ).xyz;
}
/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float3 &linearImpulseAcceleration, const ::Oyster::Math::Float3 &worldOffset )
{
return worldOffset.Cross( linearImpulseAcceleration );
}
/******************************************************************
* Returns the world impulse acceleration at ( worldOffset = worldPos - body's center of gravity ), of a mass in angular acceleration.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialImpulseAcceleration( const ::Oyster::Math::Float4x4 &worldMomentOfInertiaInversed, const ::Oyster::Math::Float3 &worldImpulseTorque, const ::Oyster::Math::Float3 &worldOffset )
{
return AngularImpulseAcceleration( worldMomentOfInertiaInversed, worldImpulseTorque ).Cross( worldOffset );
}
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/******************************************************************
* Returns the world angular velocity of a mass in rotation.
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* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum )
{
return ( momentOfInertiaInversed * ::Oyster::Math::Float4( angularMomentum, 0.0f ) ).xyz;
}
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/******************************************************************
* Returns the world angular velocity of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float3 &linearVelocity, const ::Oyster::Math::Float3 &worldOffset )
{
return worldOffset.Cross( linearVelocity );
}
/******************************************************************
* Returns the world angular velocity of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float4 AngularVelocity( const ::Oyster::Math::Float4 &linearVelocity, const ::Oyster::Math::Float4 &worldOffset )
{
return ::Oyster::Math::Float4( worldOffset.xyz.Cross( linearVelocity.xyz ), 0.0f );
}
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/******************************************************************
* Returns the world tangential velocity at worldPos, of a mass in rotation.
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* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
{
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return angularVelocity.Cross( worldOffset ) /= worldOffset.Dot( worldOffset );
}
/******************************************************************
* Returns the world tangential velocity at worldPos, of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset )
{
return TangentialLinearVelocity( AngularVelocity(momentOfInertiaInversed, angularMomentum), worldOffset );
}
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/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 LinearImpulseAcceleration( ::Oyster::Math::Float mass, const ::Oyster::Math::Float3 &impulseForce )
{
return impulseForce / mass;
}
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/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 ImpulseForce( ::Oyster::Math::Float mass, const ::Oyster::Math::Float3 &linearImpulseAcceleration )
{
return linearImpulseAcceleration * mass;
}
/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float3 & impulseForce, const ::Oyster::Math::Float3 &worldOffset )
{
return worldOffset.Cross( impulseForce );
}
/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float4 ImpulseTorque( const ::Oyster::Math::Float4 & impulseForce, const ::Oyster::Math::Float4 &worldOffset )
{
return ::Oyster::Math::Float4( worldOffset.xyz.Cross(impulseForce.xyz), 0.0f );
}
/******************************************************************
* T = I*a
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float4x4 & momentOfInertia, const ::Oyster::Math::Float3 &angularImpulseAcceleration )
{
return ( momentOfInertia * ::Oyster::Math::Float4(angularImpulseAcceleration, 0.0f) ).xyz;
}
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/******************************************************************
* T = I*a
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float4 ImpulseTorque( const ::Oyster::Math::Float4x4 & momentOfInertia, const ::Oyster::Math::Float4 &angularImpulseAcceleration )
{
return momentOfInertia * angularImpulseAcceleration;
}
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/******************************************************************
* @todo TODO: doc
******************************************************************/
inline ::Oyster::Math::Float ForceField( ::Oyster::Math::Float g, ::Oyster::Math::Float massA, ::Oyster::Math::Float massB, ::Oyster::Math::Float radiusSquared )
{
return g * massB / radiusSquared;
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}
/******************************************************************
* @todo TODO: doc
******************************************************************/
inline ::Oyster::Math::Float ForceField( ::Oyster::Math::Float g, ::Oyster::Math::Float massA, ::Oyster::Math::Float massB, const ::Oyster::Math::Float4 &deltaPos )
{
return g * massA * massB / deltaPos.Dot( deltaPos );
}
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namespace MomentOfInertia
{ /// Library of Formulas to calculate moment of inerta for simple shapes
/** @todo TODO: add MomentOfInertia tensor formulas */
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inline ::Oyster::Math::Float CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
return (2.0f/5.0f)*mass*radius*radius;
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}
inline ::Oyster::Math::Float4x4 Sphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateSphere( mass , radius );
inertia.m[1][1] = inertia.m[0][0];
inertia.m[2][2] = inertia.m[0][0];
return inertia;
}
inline ::Oyster::Math::Float CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
return (2.0f/3.0f)*mass*radius*radius;
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}
inline ::Oyster::Math::Float4x4 HollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateHollowSphere( mass, radius );
inertia.m[1][1] = inertia.m[0][0];
inertia.m[2][2] = inertia.m[0][0];
return inertia;
}
inline ::Oyster::Math::Float CalculateCuboidX( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float depth )
{
return (1.0f/12.0f)*mass*(height*height + depth*depth);
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}
inline ::Oyster::Math::Float CalculateCuboidY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth )
{
return (1.0f/12.0f)*mass*(width*width + depth*depth);
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}
inline ::Oyster::Math::Float CalculateCuboidZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float height )
{
return (1.0f/12.0f)*mass*(height*height + width*width);
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}
inline ::Oyster::Math::Float4x4 Cuboid( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth )
{
::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCuboidX( mass , height, depth );
inertia.m[1][1] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCuboidY( mass , width, depth );
inertia.m[2][2] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCuboidZ( mass , height, width );
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return inertia;
}
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inline ::Oyster::Math::Float CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
{
return (1.0f/12.0f)*mass*(length*length);
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}
inline ::Oyster::Math::Float4x4 RodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
{
::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateRodCenter( mass , length );
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inertia.m[1][1] = inertia.m[0][0];
inertia.m[2][2] = inertia.m[0][0];
return inertia;
}
inline ::Oyster::Math::Float CalculateCylinderXY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
{
return (1.0f/12.0f)*mass*(3.0f*radius*radius + height*height);
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}
inline ::Oyster::Math::Float CalculateCylinderZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
return 0.5f*mass*(radius*radius);
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}
inline ::Oyster::Math::Float4x4 Cylinder( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
{
::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCylinderXY( mass , height, radius );
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inertia.m[1][1] = inertia.m[0][0];
inertia.m[2][2] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCylinderZ( mass , radius );
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return inertia;
}
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}
}
} }
#include "Particle.h"
#include "RigidBody.h"
#include "Spring.h"
#endif