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Formula fix 

TangentialLinearMomentum(..)
This commit is contained in:
Dander7BD 2014-01-28 11:31:11 +01:00
parent eb27a4edfb
commit 8435a2c970
1 changed files with 10 additions and 1 deletions
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11
Code/OysterPhysics3D/OysterPhysics3D.h
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@ -59,11 +59,20 @@ namespace Oyster { namespace Physics3D
/****************************************************************** /******************************************************************
* Returns the world tangential momentum at worldPos, of a mass in rotation. * Returns the world tangential momentum at worldPos, of a mass in rotation.
* G = ( H x r ) / ( |H| * |r|^2 ) <-> H = r x G
* @todo TODO: improve doc * @todo TODO: improve doc
******************************************************************/ ******************************************************************/
inline ::Oyster::Math::Float4 TangentialLinearMomentum( const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &worldOffset ) 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 ); ::Oyster::Math::Float magnitudeH_squared = angularMomentum.Dot( angularMomentum );
if( magnitudeH_squared > 0 )
{
return ::Oyster::Math::Float4( angularMomentum.xyz.Cross(worldOffset.xyz), 0.0f ) /= ( (::Oyster::Math::Float)::std::sqrt(magnitudeH_squared) * worldOffset.Dot( worldOffset ) );
}
else
{
return ::Oyster::Math::Float4::null;
}
} }
/****************************************************************** /******************************************************************