119 lines
6.5 KiB
C++
119 lines
6.5 KiB
C++
/********************************************************************
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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::Float3 CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularMomentum ) const;
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::Oyster::Math::Float3 & CalculateAngularVelocity( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularMomentum, ::Oyster::Math::Float3 &targetMem ) const;
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::Oyster::Math::Float3 CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularVelocity ) const;
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::Oyster::Math::Float3 & CalculateAngularMomentum( const ::Oyster::Math::Quaternion &externR, const ::Oyster::Math::Float3 &angularVelocity, ::Oyster::Math::Float3 &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 |