82 lines
3.0 KiB
C++
82 lines
3.0 KiB
C++
#ifndef PHYSICS_FORMULA_IMPL_H
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#define PHYSICS_FORMULA_IMPL_H
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#include "PhysicsFormula.h"
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#include "OysterPhysics3D.h"
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namespace Oyster { namespace Physics { namespace Formula
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{
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namespace MomentOfInertia
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{
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inline ::Oyster::Math::Float4x4 CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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return ::Oyster::Physics3D::Formula::MomentOfInertia::Sphere(mass, radius);
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}
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inline ::Oyster::Math::Float4x4 CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius )
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{
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return ::Oyster::Physics3D::Formula::MomentOfInertia::HollowSphere(mass, radius);
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}
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inline ::Oyster::Math::Float4x4 CreateCuboidMatrix( 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 ::Oyster::Physics3D::Formula::MomentOfInertia::Cuboid(mass, height, width, depth);
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}
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inline ::Oyster::Math::Float4x4 CreateCylinderMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius )
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{
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return ::Oyster::Physics3D::Formula::MomentOfInertia::Cylinder(mass, height, radius);
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}
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inline ::Oyster::Math::Float4x4 CreateRodMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length )
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{
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return ::Oyster::Physics3D::Formula::MomentOfInertia::RodCenter(mass, length);
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}
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}
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namespace CollisionResponse
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{
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inline ::Oyster::Math::Float Bounce( ::Oyster::Math::Float e, ::Oyster::Math::Float mA, ::Oyster::Math::Float gA, ::Oyster::Math::Float mB, ::Oyster::Math::Float gB )
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{
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//return (e + 1) * (mB*gA - mA*gB) / (mA + mB);
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return (e + 1) * (mA*gB - mB*gA) / (mA + mB);
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}
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inline ::Oyster::Math::Float4 Friction( ::Oyster::Math::Float i, ::Oyster::Math::Float4 iN, ::Oyster::Math::Float4 momA, ::Oyster::Math::Float sFA, ::Oyster::Math::Float dFA, ::Oyster::Math::Float mA, ::Oyster::Math::Float4 momB, ::Oyster::Math::Float sFB, ::Oyster::Math::Float dFB, ::Oyster::Math::Float mB )
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{
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// FRICTION
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// Relative momentum after normal impulse
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::Oyster::Math::Float4 relativeMomentum = momB - momA;
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::Oyster::Math::Float4 tanFriction = relativeMomentum - relativeMomentum.Dot( iN ) * iN;
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if( tanFriction.Dot(tanFriction) > 0.0f )
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{ // no friction if moving directly into surface, or not at all.
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tanFriction.Normalize();
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::Oyster::Math::Float magnitudeFriction = -relativeMomentum.Dot( tanFriction );
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magnitudeFriction = magnitudeFriction * mA * mB / ( mA + mB );
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::Oyster::Math::Float mu = 0.5f * ( sFA + sFB );
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::Oyster::Math::Float4 frictionImpulse;
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if( abs(magnitudeFriction) < i * mu )
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{
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frictionImpulse = magnitudeFriction * tanFriction;
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}
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else
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{
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::Oyster::Math::Float dynamicFriction = 0.5f * ( dFA + dFB );
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frictionImpulse = ( -i * dynamicFriction ) * tanFriction;
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}
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return ( 1 / mA ) * frictionImpulse;
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}
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else
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return ::Oyster::Math::Float4::null;
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}
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}
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} } }
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#endif |