377 lines
18 KiB
C++
377 lines
18 KiB
C++
/////////////////////////////////////////////////////////////////////
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// Created by Dan Andersson 2013
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/////////////////////////////////////////////////////////////////////
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#ifndef OYSTER_PHYSICS_3D_H
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#define OYSTER_PHYSICS_3D_H
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#include "OysterMath.h"
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namespace Oyster { namespace Physics3D
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{ /// Library of 3D physics related components, alghorithms and formulas
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namespace Formula
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{ /// Library of 3D physics related formulas
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/******************************************************************
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* Returns the linear momentum of a mass in motion.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float4 LinearMomentum( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float4 &linearVelocity )
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{
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return linearVelocity * mass;
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}
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/******************************************************************
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* Returns the linear momentum of a mass in motion.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float4 LinearVelocity( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float4 &linearMomentum )
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{
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return linearMomentum / mass;
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}
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/******************************************************************
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* Returns the world angular momentum of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float4 AngularMomentum( const ::Oyster::Math::Float4 linearMomentum, const ::Oyster::Math::Float4 &worldOffset )
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{
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return ::Oyster::Math::Float4( worldOffset.xyz.Cross(linearMomentum.xyz), 0.0f );
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}
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/******************************************************************
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* Returns the world angular momentum of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float4 AngularMomentum( const ::Oyster::Math::Float4x4 &worldMomentOfInertia, const ::Oyster::Math::Float4 &angularVelocity )
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{
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return worldMomentOfInertia * angularVelocity;
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}
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/******************************************************************
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* Returns the world angular velocity of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float4 AngularVelocity( const ::Oyster::Math::Float4x4 &worldMomentOfInertiaInversed, const ::Oyster::Math::Float4 &angularMomentum )
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{
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return worldMomentOfInertiaInversed * angularMomentum;
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}
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/******************************************************************
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* Returns the world tangential momentum at worldPos, of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float4 TangentialLinearMomentum( const ::Oyster::Math::Float4 &angularMomentum, const ::Oyster::Math::Float4 &worldOffset )
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{
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return ::Oyster::Math::Float4( angularMomentum.xyz.Cross(worldOffset.xyz), 0.0f ) /= worldOffset.Dot( worldOffset );
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}
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/******************************************************************
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* Returns the linear kinetic energy of a mass in motion.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float LinearKineticEnergy( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearVelocity )
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{
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return (0.5f * mass) * linearVelocity.Dot( linearVelocity );
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}
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/******************************************************************
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* Returns the angular kinetic energy of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float AngularKineticEnergy( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
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{
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return (0.5f * momentOfInertia) * angularVelocity.Dot( angularVelocity );
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}
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/******************************************************************
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* Returns the linear momentum of a mass in motion.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 LinearMomentum( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearVelocity )
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{
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return mass * linearVelocity;
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}
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/******************************************************************
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* Returns the linear velocity of a mass with momentum.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 LinearVelocity( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearMomentum )
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{
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return linearMomentum / mass;
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}
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/******************************************************************
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* Returns the world angular momentum of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
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{
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return ( momentOfInertia * ::Oyster::Math::Float4(angularVelocity, 0.0f) ).xyz;
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}
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/******************************************************************
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* Returns the world angular momentum of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float3 linearMomentum, const ::Oyster::Math::Float3 &worldOffset )
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{
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return worldOffset.Cross( linearMomentum );
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}
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/******************************************************************
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* Returns the world tangential momentum at worldPos, of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset )
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{
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return angularMomentum.Cross( worldOffset ) /= worldOffset.Dot( worldOffset );
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}
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/******************************************************************
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* Returns the world tangential momentum at worldPos, of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
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{
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return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), worldOffset ) /= worldOffset.Dot( worldOffset );
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}
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/******************************************************************
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* Returns the world impulse force at worldPos, of a mass in angular acceleration.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &worldOffset )
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{
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return impulseTorque.Cross( worldOffset ) /= worldOffset.Dot( worldOffset );
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}
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/******************************************************************
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*
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &impulseTorque )
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{
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return ( momentOfInertiaInversed * ::Oyster::Math::Float4( impulseTorque, 0.0f ) ).xyz;
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}
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/******************************************************************
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*
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float3 &linearImpulseAcceleration, const ::Oyster::Math::Float3 &worldOffset )
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{
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return worldOffset.Cross( linearImpulseAcceleration );
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}
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/******************************************************************
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* Returns the world impulse acceleration at ( worldOffset = worldPos - body's center of gravity ), of a mass in angular acceleration.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 TangentialImpulseAcceleration( const ::Oyster::Math::Float4x4 &worldMomentOfInertiaInversed, const ::Oyster::Math::Float3 &worldImpulseTorque, const ::Oyster::Math::Float3 &worldOffset )
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{
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return AngularImpulseAcceleration( worldMomentOfInertiaInversed, worldImpulseTorque ).Cross( worldOffset );
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}
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/******************************************************************
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* Returns the world angular velocity of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum )
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{
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return ( momentOfInertiaInversed * ::Oyster::Math::Float4( angularMomentum, 0.0f ) ).xyz;
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}
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/******************************************************************
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* Returns the world angular velocity of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float3 &linearVelocity, const ::Oyster::Math::Float3 &worldOffset )
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{
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return worldOffset.Cross( linearVelocity );
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}
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/******************************************************************
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* Returns the world angular velocity of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float4 AngularVelocity( const ::Oyster::Math::Float4 &linearVelocity, const ::Oyster::Math::Float4 &worldOffset )
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{
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return ::Oyster::Math::Float4( worldOffset.xyz.Cross( linearVelocity.xyz ), 0.0f );
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}
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/******************************************************************
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* Returns the world tangential velocity at worldPos, of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &worldOffset )
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{
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return angularVelocity.Cross( worldOffset ) /= worldOffset.Dot( worldOffset );
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}
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/******************************************************************
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* Returns the world tangential velocity at worldPos, of a mass in rotation.
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &worldOffset )
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{
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return TangentialLinearVelocity( AngularVelocity(momentOfInertiaInversed, angularMomentum), worldOffset );
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}
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/******************************************************************
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*
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 LinearImpulseAcceleration( ::Oyster::Math::Float mass, const ::Oyster::Math::Float3 &impulseForce )
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{
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return impulseForce / mass;
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}
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/******************************************************************
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*
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 ImpulseForce( ::Oyster::Math::Float mass, const ::Oyster::Math::Float3 &linearImpulseAcceleration )
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{
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return linearImpulseAcceleration * mass;
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}
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/******************************************************************
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*
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float3 & impulseForce, const ::Oyster::Math::Float3 &worldOffset )
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{
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return worldOffset.Cross( impulseForce );
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}
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/******************************************************************
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*
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float4 ImpulseTorque( const ::Oyster::Math::Float4 & impulseForce, const ::Oyster::Math::Float4 &worldOffset )
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{
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return ::Oyster::Math::Float4( worldOffset.xyz.Cross(impulseForce.xyz), 0.0f );
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}
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/******************************************************************
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* T = I*a
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float4x4 & momentOfInertia, const ::Oyster::Math::Float3 &angularImpulseAcceleration )
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{
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return ( momentOfInertia * ::Oyster::Math::Float4(angularImpulseAcceleration, 0.0f) ).xyz;
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}
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/******************************************************************
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* T = I*a
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* @todo TODO: improve doc
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******************************************************************/
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inline ::Oyster::Math::Float4 ImpulseTorque( const ::Oyster::Math::Float4x4 & momentOfInertia, const ::Oyster::Math::Float4 &angularImpulseAcceleration )
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{
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return momentOfInertia * angularImpulseAcceleration;
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}
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namespace MomentOfInertia
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{ /// Library of Formulas to calculate moment of inerta for simple shapes
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/** @todo TODO: add MomentOfInertia tensor formulas */
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inline ::Oyster::Math::Float CalculateSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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return ::Utility::Value::Radian( 2.0f / 5.0f ) * mass * radius * radius;
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}
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inline ::Oyster::Math::Float4x4 Sphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
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inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateSphere( mass , radius );
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inertia.m[1][1] = inertia.m[0][0];
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inertia.m[2][2] = inertia.m[0][0];
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return inertia;
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}
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inline ::Oyster::Math::Float CalculateHollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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return ::Utility::Value::Radian( 2.0f / 3.0f ) * mass * radius * radius;
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}
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inline ::Oyster::Math::Float4x4 HollowSphere( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
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inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateHollowSphere( mass, radius );
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inertia.m[1][1] = inertia.m[0][0];
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inertia.m[2][2] = inertia.m[0][0];
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return inertia;
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}
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inline ::Oyster::Math::Float 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 ::Utility::Value::Radian( 1.0f / 12.0f ) * mass * (height * height + depth * depth);
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}
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inline ::Oyster::Math::Float 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 ::Utility::Value::Radian( 1.0f / 12.0f ) * mass * (width * width + depth * depth );
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}
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inline ::Oyster::Math::Float 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 ::Utility::Value::Radian( 1.0f / 12.0f ) * mass * (height * height + width * width );
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}
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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 )
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{
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::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
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inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCuboidX( mass, height, depth );
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inertia.m[1][1] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCuboidY( mass, width, depth );
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inertia.m[2][2] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCuboidZ( mass, height, width );
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return inertia;
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}
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inline ::Oyster::Math::Float CalculateRodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
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{
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return ::Utility::Value::Radian( 1.0f / 12.0f ) * mass * length * length;
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}
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inline ::Oyster::Math::Float4x4 RodCenter( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
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{
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::Oyster::Math::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
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inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateRodCenter( mass, length );
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inertia.m[1][1] = inertia.m[0][0];
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inertia.m[2][2] = inertia.m[0][0];
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return inertia;
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}
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inline ::Oyster::Math::Float 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 ::Utility::Value::Radian( 1.0f / 12.0f ) * mass * ( 3.0f * radius * radius + height * height );
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}
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inline ::Oyster::Math::Float CalculateCylinderZ( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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return ::Utility::Value::Radian( 0.5f ) * mass * ( radius * radius );
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}
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inline ::Oyster::Math::Float4x4 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::Float4x4 inertia = ::Oyster::Math::Float4x4::identity;
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inertia.m[0][0] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCylinderXY( mass, height, radius );
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inertia.m[1][1] = inertia.m[0][0];
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inertia.m[2][2] = ::Oyster::Physics3D::Formula::MomentOfInertia::CalculateCylinderZ( mass, radius );
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return inertia;
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}
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}
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}
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} }
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#include "Particle.h"
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#include "RigidBody.h"
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#include "Spring.h"
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#endif |