From 6494bcb09ef971dc0db2acb66c793ecc5a66c705 Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Fri, 22 Nov 2013 08:58:00 +0100 Subject: [PATCH] Added more inertia functions. --- Code/OysterPhysics3D/OysterPhysics3D.h | 35 ++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/Code/OysterPhysics3D/OysterPhysics3D.h b/Code/OysterPhysics3D/OysterPhysics3D.h index ae4c247b..614a4a29 100644 --- a/Code/OysterPhysics3D/OysterPhysics3D.h +++ b/Code/OysterPhysics3D/OysterPhysics3D.h @@ -255,6 +255,41 @@ namespace Oyster { namespace Physics3D return inertia; } + + inline ::Oyster::Math::Float CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length ) + { + return (1.0f/12.0f)*mass*(length*length); + } + + 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 ); + 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); + } + + inline ::Oyster::Math::Float CalculateCylinderZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius ) + { + return 0.5f*mass*(radius*radius); + } + + 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 ); + inertia.m[1][1] = inertia.m[0][0]; + inertia.m[2][2] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCylinderZ( mass , radius ); + + return inertia; + } } }