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Added inertia functions.

This commit is contained in:
Robin Engman 2013-11-21 11:47:34 +01:00
parent baec4b0392
commit 3f518c72e8
7 changed files with 61 additions and 6 deletions
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55
Code/OysterPhysics3D/OysterPhysics3D.h
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@ -186,6 +186,61 @@ namespace Oyster { namespace Physics3D
namespace MomentOfInertia namespace MomentOfInertia
{ /// Library of Formulas to calculate moment of inerta for simple shapes { /// Library of Formulas to calculate moment of inerta for simple shapes
/** @todo TODO: add MomentOfInertia tensor formulas */ /** @todo TODO: add MomentOfInertia tensor formulas */
inline ::Oyster::Math::Float CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{
return (2.0f/5.0f)*mass*radius*radius;
}
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;
}
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);
}
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);
}
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);
}
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 );
return inertia;
}
} }
} }
} } } }

4
Code/OysterPhysics3D/Plane.cpp
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@ -31,7 +31,7 @@ bool Plane::Intersects( const ICollideable *target ) const
case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance ); case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *this, *(Sphere*)target ); case Type_sphere: return Utility::Intersect( *this, *(Sphere*)target );
case Type_plane: return Utility::Intersect( *this, *(Plane*)target ); case Type_plane: return Utility::Intersect( *this, *(Plane*)target );
case Type_triangle: return false; // TODO: // case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this ); case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this );
case Type_box: return Utility::Intersect( *(Box*)target, *this ); case Type_box: return Utility::Intersect( *(Box*)target, *this );
case Type_frustrum: return false; // TODO: case Type_frustrum: return false; // TODO:
@ -47,7 +47,7 @@ bool Plane::Contains( const ICollideable *target ) const
case Type_point: return Utility::Intersect( *this, *(Point*)target ); case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_ray: return Utility::Contains( *this, *(Ray*)target ); case Type_ray: return Utility::Contains( *this, *(Ray*)target );
case Type_plane: return Utility::Contains( *this, *(Plane*)target ); case Type_plane: return Utility::Contains( *this, *(Plane*)target );
case Type_triangle: return false; // TODO: // case Type_triangle: return false; // TODO:
default: return false; default: return false;
} }
} }

2
Code/OysterPhysics3D/Point.cpp
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@ -30,7 +30,7 @@ bool Point::Intersects( const ICollideable *target ) const
case Type_ray: return Utility::Intersect( *(Ray*)target, *this, ((Ray*)target)->collisionDistance ); case Type_ray: return Utility::Intersect( *(Ray*)target, *this, ((Ray*)target)->collisionDistance );
case Type_sphere: Utility::Intersect( *(Sphere*)target, *this ); case Type_sphere: Utility::Intersect( *(Sphere*)target, *this );
case Type_plane: return Utility::Intersect( *(Plane*)target, *this ); case Type_plane: return Utility::Intersect( *(Plane*)target, *this );
case Type_triangle: return false; // TODO: //case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this ); case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this );
case Type_box: return Utility::Intersect( *(Box*)target, *this ); case Type_box: return Utility::Intersect( *(Box*)target, *this );
case Type_frustrum: return false; // TODO: case Type_frustrum: return false; // TODO:

2
Code/OysterPhysics3D/Ray.cpp
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@ -33,7 +33,7 @@ bool Ray::Intersects( const ICollideable *target ) const
case Type_ray: return Utility::Intersect( *this, *(Ray*)target, this->collisionDistance, ((Ray*)target)->collisionDistance ); case Type_ray: return Utility::Intersect( *this, *(Ray*)target, this->collisionDistance, ((Ray*)target)->collisionDistance );
case Type_sphere: return Utility::Intersect( *(Sphere*)target, *this, this->collisionDistance ); case Type_sphere: return Utility::Intersect( *(Sphere*)target, *this, this->collisionDistance );
case Type_plane: return Utility::Intersect( *(Plane*)target, *this, this->collisionDistance ); case Type_plane: return Utility::Intersect( *(Plane*)target, *this, this->collisionDistance );
case Type_triangle: return false; // TODO: // case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this, this->collisionDistance ); case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this, this->collisionDistance );
case Type_box: return Utility::Intersect( *(Box*)target, *this, this->collisionDistance ); case Type_box: return Utility::Intersect( *(Box*)target, *this, this->collisionDistance );
case Type_frustrum: return false; // TODO: case Type_frustrum: return false; // TODO:

4
Code/OysterPhysics3D/Sphere.cpp
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@ -27,7 +27,7 @@ bool Sphere::Intersects( const ICollideable *target ) const
case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance ); case Type_ray: return Utility::Intersect( *this, *(Ray*)target, ((Ray*)target)->collisionDistance );
case Type_sphere: Utility::Intersect( *this, *(Sphere*)target ); case Type_sphere: Utility::Intersect( *this, *(Sphere*)target );
case Type_plane: return Utility::Intersect( *(Plane*)target, *this ); case Type_plane: return Utility::Intersect( *(Plane*)target, *this );
case Type_triangle: return false; // TODO: // case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this ); case Type_box_axis_aligned: return Utility::Intersect( *(BoxAxisAligned*)target, *this );
case Type_box: return Utility::Intersect( *(Box*)target, *this ); case Type_box: return Utility::Intersect( *(Box*)target, *this );
case Type_frustrum: return false; // TODO: case Type_frustrum: return false; // TODO:
@ -41,7 +41,7 @@ bool Sphere::Contains( const ICollideable *target ) const
{ {
case Type_point: return Utility::Intersect( *this, *(Point*)target ); case Type_point: return Utility::Intersect( *this, *(Point*)target );
case Type_sphere: return Utility::Contains( *this, *(Sphere*)target ); case Type_sphere: return Utility::Contains( *this, *(Sphere*)target );
case Type_triangle: return false; // TODO: // case Type_triangle: return false; // TODO:
case Type_box_axis_aligned: return false; // TODO: case Type_box_axis_aligned: return false; // TODO:
case Type_box: return false; // TODO: case Type_box: return false; // TODO:
case Type_frustrum: return false; // TODO: case Type_frustrum: return false; // TODO: