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Revert "Inertia tensor fix" 

This reverts commit 23dab9dea6.
This commit is contained in:
Dander7BD 2014-01-14 11:40:47 +01:00
parent 23dab9dea6
commit 89ef3b830a
1 changed files with 14 additions and 14 deletions
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28
Code/OysterPhysics3D/OysterPhysics3D.h
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@ -278,7 +278,7 @@ namespace Oyster { namespace Physics3D
/** @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 ) inline ::Oyster::Math::Float CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{ {
return ::Utility::Value::Radian( 2.0f / 5.0f ) * mass * radius * radius; return (2.0f/5.0f)*mass*radius*radius;
} }
inline ::Oyster::Math::Float4x4 Sphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius ) inline ::Oyster::Math::Float4x4 Sphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
@ -293,7 +293,7 @@ namespace Oyster { namespace Physics3D
inline ::Oyster::Math::Float CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius ) inline ::Oyster::Math::Float CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{ {
return ::Utility::Value::Radian( 2.0f / 3.0f ) * mass * radius * radius; return (2.0f/3.0f)*mass*radius*radius;
} }
inline ::Oyster::Math::Float4x4 HollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius ) inline ::Oyster::Math::Float4x4 HollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
@ -308,38 +308,38 @@ namespace Oyster { namespace Physics3D
inline ::Oyster::Math::Float CalculateCuboidX( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float depth ) inline ::Oyster::Math::Float CalculateCuboidX( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float depth )
{ {
return ::Utility::Value::Radian( 1.0f / 12.0f ) * mass * (height * height + depth * 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 ) inline ::Oyster::Math::Float CalculateCuboidY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth )
{ {
return ::Utility::Value::Radian( 1.0f / 12.0f ) * mass * (width * width + depth * 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 ) inline ::Oyster::Math::Float CalculateCuboidZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float height )
{ {
return ::Utility::Value::Radian( 1.0f / 12.0f ) * mass * (height * height + width * width ); 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 ) 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; ::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCuboidX( mass, height, depth ); 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[1][1] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCuboidY( mass , width, depth );
inertia.m[2][2] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCuboidZ( mass, height, width ); inertia.m[2][2] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCuboidZ( mass , height, width );
return inertia; return inertia;
} }
inline ::Oyster::Math::Float CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length ) inline ::Oyster::Math::Float CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
{ {
return ::Utility::Value::Radian( 1.0f / 12.0f ) * mass * length * length; return (1.0f/12.0f)*mass*(length*length);
} }
inline ::Oyster::Math::Float4x4 RodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length ) inline ::Oyster::Math::Float4x4 RodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
{ {
::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity; ::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateRodCenter( mass, length ); inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateRodCenter( mass , length );
inertia.m[1][1] = inertia.m[0][0]; inertia.m[1][1] = inertia.m[0][0];
inertia.m[2][2] = inertia.m[0][0]; inertia.m[2][2] = inertia.m[0][0];
@ -348,20 +348,20 @@ namespace Oyster { namespace Physics3D
inline ::Oyster::Math::Float CalculateCylinderXY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius ) inline ::Oyster::Math::Float CalculateCylinderXY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
{ {
return ::Utility::Value::Radian( 1.0f / 12.0f ) * mass * ( 3.0f * radius * radius + height * height ); 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 ) inline ::Oyster::Math::Float CalculateCylinderZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
{ {
return ::Utility::Value::Radian( 0.5f ) * mass * ( radius * 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 ) 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; ::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCylinderXY( mass, height, radius ); inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCylinderXY( mass , height, radius );
inertia.m[1][1] = inertia.m[0][0]; inertia.m[1][1] = inertia.m[0][0];
inertia.m[2][2] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCylinderZ( mass, radius ); inertia.m[2][2] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCylinderZ( mass , radius );
return inertia; return inertia;
} }