mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-29 07:07:14 +01:00
57 lines
2.1 KiB
C++
57 lines
2.1 KiB
C++
|
/*! \file btGImpactMassUtil.h
|
||
|
|
\author Francisco Leon Najera
|
||
|
|
*/
|
||
|
|
/*
|
||
|
|
This source file is part of GIMPACT Library.
|
||
|
|
|
||
|
|
For the latest info, see http://gimpact.sourceforge.net/
|
||
|
|
|
||
|
|
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
|
||
|
|
email: projectileman@yahoo.com
|
||
|
|
|
||
|
|
|
||
|
|
This software is provided 'as-is', without any express or implied warranty.
|
||
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
||
|
|
Permission is granted to anyone to use this software for any purpose,
|
||
|
|
including commercial applications, and to alter it and redistribute it freely,
|
||
|
|
subject to the following restrictions:
|
||
|
|
|
||
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||
|
|
3. This notice may not be removed or altered from any source distribution.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef GIMPACT_MASS_UTIL_H
|
||
|
|
#define GIMPACT_MASS_UTIL_H
|
||
|
|
|
||
|
|
#include "LinearMath/btTransform.h"
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed(
|
||
|
|
const btVector3& source_inertia, const btVector3& added_inertia, const btTransform& transform)
|
||
|
|
{
|
||
|
|
btMatrix3x3 rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose();
|
||
|
|
|
||
|
|
btScalar x2 = transform.getOrigin()[0];
|
||
|
|
x2 *= x2;
|
||
|
|
btScalar y2 = transform.getOrigin()[1];
|
||
|
|
y2 *= y2;
|
||
|
|
btScalar z2 = transform.getOrigin()[2];
|
||
|
|
z2 *= z2;
|
||
|
|
|
||
|
|
btScalar ix = rotatedTensor[0][0] * (y2 + z2);
|
||
|
|
btScalar iy = rotatedTensor[1][1] * (x2 + z2);
|
||
|
|
btScalar iz = rotatedTensor[2][2] * (x2 + y2);
|
||
|
|
|
||
|
|
return btVector3(source_inertia[0] + ix, source_inertia[1] + iy, source_inertia[2] + iz);
|
||
|
|
}
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3& point, btScalar mass)
|
||
|
|
{
|
||
|
|
btScalar x2 = point[0] * point[0];
|
||
|
|
btScalar y2 = point[1] * point[1];
|
||
|
|
btScalar z2 = point[2] * point[2];
|
||
|
|
return btVector3(mass * (y2 + z2), mass * (x2 + z2), mass * (x2 + y2));
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif //GIMPACT_MESH_SHAPE_H
|