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Added more inertia functions.

This commit is contained in:
Robin Engman 2013-11-22 08:58:00 +01:00
parent 91af42c0bd
commit 6494bcb09e
1 changed files with 35 additions and 0 deletions
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35
Code/OysterPhysics3D/OysterPhysics3D.h
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@ -256,6 +256,41 @@ 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;
}
}
}
} }