197 lines
9.0 KiB
C++
197 lines
9.0 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 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 offset.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 );
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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 );
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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 );
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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 offset.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 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( offset );
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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), offset );
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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 offset.Cross( impulseForce );
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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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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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}
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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 |