103 lines
5.5 KiB
C
103 lines
5.5 KiB
C
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/////////////////////////////////////////////////////////////////////
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// Created by Dan Andersson 2013
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/////////////////////////////////////////////////////////////////////
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#ifndef OYSTER_PHYSICS_3D_H
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#define OYSTER_PHYSICS_3D_H
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#include "OysterMath.h"
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namespace Oyster { namespace Physics3D
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{ /// Library of 3D physics related components, alghorithms and formulas
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namespace Formula
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{ /// Library of 3D physics related formulas
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/******************************************************************
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* Returns the linear kinetic energy of a mass in motion.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float LinearKineticEnergy( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearVelocity )
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{ return (0.5f * mass) * linearVelocity.Dot( linearVelocity ); }
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/******************************************************************
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* Returns the angular kinetic energy of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float AngularKineticEnergy( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
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{ return (0.5f * momentOfInertia) * angularVelocity.Dot( angularVelocity ); }
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/******************************************************************
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* Returns the linear momentum of a mass in motion.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 LinearMomentum( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearVelocity )
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{ return mass * linearVelocity; }
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/******************************************************************
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* Returns the linear velocity of a mass with momentum.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 LinearVelocity( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearMomentum )
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{ return linearMomentum / mass; }
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/******************************************************************
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* Returns the local angular momentum of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
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{ return momentOfInertia * angularVelocity; }
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/******************************************************************
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* Returns the local tangential momentum at localPos, of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 & TangentialLinearMomentum( const ::Oyster::Math::Float &localAngularMomentum, const ::Oyster::Math::Float3 &localPosition, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() )
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{ return targetMem = localAngularMomentum * ::Oyster::Math::Float3( -localPosition.y, localPosition.x ); }
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/******************************************************************
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* Returns the local tangential momentum at localPos, of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 & TangentialLinearMomentum( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &localPosition, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() )
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{ return targetMem = AngularMomentum( momentOfInertia, angularVelocity ).Cross( localPosition ); }
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/******************************************************************
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* Returns the local angular velocity of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularMomentum )
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{ return angularMomentum / momentOfInertia; }
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/******************************************************************
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* Returns the local tangential velocity at localPos, of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 & TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &localPosition, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() )
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{ return targetMem = angularVelocity.Cross( localPosition ); }
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/******************************************************************
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*
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 LinearImpulseAcceleration( ::Oyster::Math::Float mass, const ::Oyster::Math::Float3 &impulseForce )
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{ return impulseForce / mass; }
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/******************************************************************
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*
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 ImpulseForce( ::Oyster::Math::Float mass, const ::Oyster::Math::Float3 &linearImpulseAcceleration )
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{ return linearImpulseAcceleration * mass; }
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namespace MomentOfInertia
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{ /// Library of Formulas to calculate moment of inerta for simple shapes
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/** @todo TODO: add MomentOfInertia formulas */
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}
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}
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} }
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#include "Particle.h"
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#include "RigidBody.h"
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#include "Spring.h"
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#endif
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