struct ::Oyster::Physics3D::MomentOfInertia
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/********************************************************************
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* Created by Dan Andersson 2014
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********************************************************************/
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#include "Inertia.h"
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using namespace ::Oyster::Math3D;
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using namespace ::Oyster::Physics3D;
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MomentOfInertia::MomentOfInertia()
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{
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this->rotation = Quaternion::identity;
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this->magnitude = Float3( 1.0f );
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}
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MomentOfInertia::MomentOfInertia( const Quaternion &r, const Float3 &m )
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{
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this->rotation = r;
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this->magnitude = m;
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}
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MomentOfInertia & MomentOfInertia::operator = ( const MomentOfInertia &i )
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{
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this->rotation = i.rotation;
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this->magnitude = i.magnitude;
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return *this;
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}
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Float4 MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float4 &h ) const
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{
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return this->CalculateAngularVelocity( externR, h, Float4() );
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}
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Float4 & MomentOfInertia::CalculateAngularVelocity( const Quaternion &externR, const Float4 &h, Float4 &targetMem ) const
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{ // w = (R * I_R) * I_M^-1 * (R * I_R)^-1 * h
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Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation );
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Float4 w = rotation.GetInverse() * h;
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return targetMem = rotation * w.PiecewiseMultiplicationAdd( Float4(1.0f / this->magnitude.x, 1.0f / this->magnitude.y, 1.0f / this->magnitude.z, 0.0f) );
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}
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Float4 MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float4 &w ) const
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{
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return this->CalculateAngularMomentum( externR, w, Float4() );
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}
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Float4 & MomentOfInertia::CalculateAngularMomentum( const Quaternion &externR, const Float4 &w, Float4 &targetMem ) const
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{ // h = (R * I_R) * I_M * (R * I_R)^-1 * w
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Float4x4 rotation = RotationMatrix( externR ) * RotationMatrix( this->rotation );
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Float4 h = rotation.GetInverse() * w;
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return targetMem = rotation * h.PiecewiseMultiplicationAdd( Float4(this->magnitude.x, this->magnitude.y, this->magnitude.z, 0.0f) );
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}
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/********************************************************************
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* Created by Dan Andersson & Robin Engman 2014
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********************************************************************/
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#ifndef OYSTER_PHYSICS_3D_INERTIA_H
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#define OYSTER_PHYSICS_3D_INERTIA_H
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#include "OysterMath.h"
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namespace Oyster { namespace Physics3D
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{
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struct MomentOfInertia
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{
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::Oyster::Math::Quaternion rotation;
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::Oyster::Math::Float3 magnitude;
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MomentOfInertia();
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MomentOfInertia( const ::Oyster::Math::Quaternion &r, const ::Oyster::Math::Float3 &m );
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MomentOfInertia & operator = ( const MomentOfInertia &i );
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::Oyster::Math::Float4 CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularMomentum ) const;
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::Oyster::Math::Float4 & CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularMomentum, ::Oyster::Math::Float4 &targetMem ) const;
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::Oyster::Math::Float4 CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularVelocity ) const;
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::Oyster::Math::Float4 & CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float4 &angularVelocity, ::Oyster::Math::Float4 &targetMem ) const;
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static ::Oyster::Math::Float CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
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static ::Oyster::Math::Float CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
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static ::Oyster::Math::Float CalculateCuboidX( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float depth );
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static ::Oyster::Math::Float CalculateCuboidY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth );
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static ::Oyster::Math::Float CalculateCuboidZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float height );
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static ::Oyster::Math::Float CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length );
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static ::Oyster::Math::Float CalculateCylinderXY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius );
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static ::Oyster::Math::Float CalculateCylinderZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
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static MomentOfInertia Sphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
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static MomentOfInertia HollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius );
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static MomentOfInertia Cuboid( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth );
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static MomentOfInertia RodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length );
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static MomentOfInertia Cylinder( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius );
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};
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inline ::Oyster::Math::Float MomentOfInertia::CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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return (2.0f / 5.0f) * mass * radius * radius;
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}
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inline ::Oyster::Math::Float MomentOfInertia::CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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return (2.0f / 3.0f) * mass * radius * radius;
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}
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inline ::Oyster::Math::Float MomentOfInertia::CalculateCuboidX( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float depth )
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{
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return (1.0f / 12.0f) * mass * (height * height + depth * depth);
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}
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inline ::Oyster::Math::Float MomentOfInertia::CalculateCuboidY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth )
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{
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return (1.0f / 12.0f) * mass * (width * width + depth * depth);
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}
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inline ::Oyster::Math::Float MomentOfInertia::CalculateCuboidZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float width, const ::Oyster::Math::Float height )
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{
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return (1.0f / 12.0f) * mass * (height * height + width * width);
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}
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inline ::Oyster::Math::Float MomentOfInertia::CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
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{
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return (1.0f / 12.0f) * mass * length * length;
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}
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inline ::Oyster::Math::Float MomentOfInertia::CalculateCylinderXY( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
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{
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return (1.0f / 12.0f) * mass * (3.0f * radius * radius + height * height);
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}
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inline ::Oyster::Math::Float MomentOfInertia::CalculateCylinderZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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return 0.5f * mass * radius * radius;
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}
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inline MomentOfInertia MomentOfInertia::Sphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
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::Oyster::Math::Float3(MomentOfInertia::CalculateSphere(mass, radius)) );
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}
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inline MomentOfInertia MomentOfInertia::HollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
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::Oyster::Math::Float3(MomentOfInertia::CalculateHollowSphere(mass, radius)) );
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}
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inline MomentOfInertia MomentOfInertia::Cuboid( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth )
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{
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return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
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::Oyster::Math::Float3(MomentOfInertia::CalculateCuboidX(mass, height, depth),
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MomentOfInertia::CalculateCuboidY(mass, width, depth),
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MomentOfInertia::CalculateCuboidZ(mass, height, width)) );
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}
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inline MomentOfInertia MomentOfInertia::RodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
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{
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return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
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::Oyster::Math::Float3(MomentOfInertia::CalculateRodCenter(mass , length)) );
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}
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inline MomentOfInertia MomentOfInertia::Cylinder( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
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{
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::Oyster::Math::Float cylinderXY = MomentOfInertia::CalculateCylinderXY( mass , height, radius );
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return MomentOfInertia( ::Oyster::Math::Quaternion::identity,
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::Oyster::Math::Float3(cylinderXY, cylinderXY,
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MomentOfInertia::CalculateCylinderZ(mass, radius)) );
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}
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} }
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#endif
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@ -155,6 +155,7 @@
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<ClInclude Include="FluidDrag.h" />
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<ClInclude Include="Frustrum.h" />
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<ClInclude Include="ICollideable.h" />
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<ClInclude Include="Inertia.h" />
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<ClInclude Include="Line.h" />
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<ClInclude Include="OysterCollision3D.h" />
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<ClInclude Include="OysterPhysics3D.h" />
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<ClCompile Include="FluidDrag.cpp" />
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<ClCompile Include="Frustrum.cpp" />
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<ClCompile Include="ICollideable.cpp" />
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<ClCompile Include="Inertia.cpp" />
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<ClCompile Include="Line.cpp" />
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<ClCompile Include="OysterCollision3D.cpp" />
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<ClCompile Include="Particle.cpp" />
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<ClInclude Include="RigidBody_Inline.h">
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<Filter>Header Files\Physics</Filter>
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</ClInclude>
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<ClInclude Include="Inertia.h">
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<Filter>Header Files\Physics</Filter>
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</ClInclude>
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</ItemGroup>
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<ItemGroup>
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<ClCompile Include="Box.cpp">
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<ClCompile Include="Particle.cpp">
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<Filter>Source Files\Physics</Filter>
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</ClCompile>
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<ClCompile Include="Inertia.cpp">
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<Filter>Source Files\Physics</Filter>
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</ClCompile>
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</ItemGroup>
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</Project>
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