Danbias/OysterPhysics3D/OysterPhysics3D.h

197 lines
8.9 KiB
C++

/////////////////////////////////////////////////////////////////////
// Created by Dan Andersson 2013
/////////////////////////////////////////////////////////////////////
#ifndef OYSTER_PHYSICS_3D_H
#define OYSTER_PHYSICS_3D_H
#include "OysterMath.h"
namespace Oyster { namespace Physics3D
{ /// Library of 3D physics related components, alghorithms and formulas
namespace Formula
{ /// Library of 3D physics related formulas
/******************************************************************
* Returns the linear kinetic energy of a mass in motion.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float LinearKineticEnergy( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearVelocity )
{
return (0.5f * mass) * linearVelocity.Dot( linearVelocity );
}
/******************************************************************
* Returns the angular kinetic energy of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float AngularKineticEnergy( const ::Oyster::Math::Float &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
{
return (0.5f * momentOfInertia) * angularVelocity.Dot( angularVelocity );
}
/******************************************************************
* Returns the linear momentum of a mass in motion.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 LinearMomentum( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearVelocity )
{
return mass * linearVelocity;
}
/******************************************************************
* Returns the linear velocity of a mass with momentum.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 LinearVelocity( const ::Oyster::Math::Float &mass, const ::Oyster::Math::Float3 &linearMomentum )
{
return linearMomentum / mass;
}
/******************************************************************
* Returns the local angular momentum of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity )
{
return ( momentOfInertia * ::Oyster::Math::Float4(angularVelocity, 0.0f) ).xyz;
}
/******************************************************************
* Returns the local angular momentum of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularMomentum( const ::Oyster::Math::Float3 linearMomentum, const ::Oyster::Math::Float3 &offset )
{
return offset.Cross( linearMomentum );
}
/******************************************************************
* Returns the local tangential momentum at localPos, of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &localOffset )
{
return angularMomentum.Cross( localOffset );
}
/******************************************************************
* Returns the local tangential momentum at localPos, of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearMomentum( const ::Oyster::Math::Float4x4 &momentOfInertia, const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &localOffset )
{
return TangentialLinearMomentum( AngularMomentum(momentOfInertia, angularVelocity), localOffset );
}
/******************************************************************
* Returns the local impulse force at localPos, of a mass in angular acceleration.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialImpulseForce( const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &localOffset )
{
return impulseTorque.Cross( localOffset );
}
/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &impulseTorque )
{
return ( momentOfInertiaInversed * ::Oyster::Math::Float4( impulseTorque, 0.0f ) ).xyz;
}
/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularImpulseAcceleration( const ::Oyster::Math::Float3 &linearImpulseAcceleration, const ::Oyster::Math::Float3 &offset )
{
return offset.Cross( linearImpulseAcceleration );
}
/******************************************************************
* Returns the local impulse acceleration at localPos, of a mass in angular acceleration.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialImpulseAcceleration( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &impulseTorque, const ::Oyster::Math::Float3 &localOffset )
{
return AngularImpulseAcceleration( momentOfInertiaInversed, impulseTorque ).Cross( localOffset );
}
/******************************************************************
* Returns the local angular velocity of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 AngularVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum )
{
return ( momentOfInertiaInversed * ::Oyster::Math::Float4( angularMomentum, 0.0f ) ).xyz;
}
/******************************************************************
* Returns the local tangential velocity at localPos, of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float3 &angularVelocity, const ::Oyster::Math::Float3 &offset )
{
return angularVelocity.Cross( offset );
}
/******************************************************************
* Returns the local tangential velocity at localPos, of a mass in rotation.
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 TangentialLinearVelocity( const ::Oyster::Math::Float4x4 &momentOfInertiaInversed, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &offset )
{
return TangentialLinearVelocity( AngularVelocity(momentOfInertiaInversed, angularMomentum), offset );
}
/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 LinearImpulseAcceleration( ::Oyster::Math::Float mass, const ::Oyster::Math::Float3 &impulseForce )
{
return impulseForce / mass;
}
/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 ImpulseForce( ::Oyster::Math::Float mass, const ::Oyster::Math::Float3 &linearImpulseAcceleration )
{
return linearImpulseAcceleration * mass;
}
/******************************************************************
*
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float3 & impulseForce, const ::Oyster::Math::Float3 &offset )
{
return offset.Cross( impulseForce );
}
/******************************************************************
* T = I*a
* @todo TODO: improve doc
******************************************************************/
inline ::Oyster::Math::Float3 ImpulseTorque( const ::Oyster::Math::Float4x4 & momentOfInertia, const ::Oyster::Math::Float3 &angularImpulseAcceleration )
{
return ( momentOfInertia * ::Oyster::Math::Float4(angularImpulseAcceleration, 0.0f) ).xyz;
}
namespace MomentOfInertia
{ /// Library of Formulas to calculate moment of inerta for simple shapes
/** @todo TODO: add MomentOfInertia tensor formulas */
}
}
} }
#include "Particle.h"
#include "RigidBody.h"
#include "Spring.h"
#endif