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114 lines
2.7 KiB
114 lines
2.7 KiB
///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2013 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2006-04-21
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// Updated : 2006-12-06
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// Licence : This source is under MIT License
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// File : glm/gtx/inertia.inl
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///////////////////////////////////////////////////////////////////////////////////////////////////
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namespace glm
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{
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat3x3<T> boxInertia3
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(
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T const & Mass,
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detail::tvec3<T> const & Scale
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)
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{
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detail::tmat3x3<T> Result(T(1));
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Result[0][0] = (Scale.y * Scale.y + Scale.z * Scale.z) * Mass / T(12);
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Result[1][1] = (Scale.x * Scale.x + Scale.z * Scale.z) * Mass / T(12);
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Result[2][2] = (Scale.x * Scale.x + Scale.y * Scale.y) * Mass / T(12);
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> boxInertia4
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(
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T const & Mass,
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detail::tvec3<T> const & Scale
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)
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{
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detail::tmat4x4<T> Result(T(1));
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Result[0][0] = (Scale.y * Scale.y + Scale.z * Scale.z) * Mass / T(12);
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Result[1][1] = (Scale.x * Scale.x + Scale.z * Scale.z) * Mass / T(12);
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Result[2][2] = (Scale.x * Scale.x + Scale.y * Scale.y) * Mass / T(12);
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat3x3<T> diskInertia3
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(
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T const & Mass,
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T const & Radius
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)
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{
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T a = Mass * Radius * Radius / T(2);
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detail::tmat3x3<T> Result(a);
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Result[2][2] *= T(2);
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> diskInertia4
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(
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T const & Mass,
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T const & Radius
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)
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{
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T a = Mass * Radius * Radius / T(2);
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detail::tmat4x4<T> Result(a);
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Result[2][2] *= T(2);
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Result[3][3] = T(1);
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat3x3<T> ballInertia3
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(
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T const & Mass,
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T const & Radius
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)
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{
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T a = T(2) * Mass * Radius * Radius / T(5);
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return detail::tmat3x3<T>(a);
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> ballInertia4
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(
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T const & Mass,
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T const & Radius
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)
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{
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T a = T(2) * Mass * Radius * Radius / T(5);
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detail::tmat4x4<T> Result(a);
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Result[3][3] = T(1);
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat3x3<T> sphereInertia3
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(
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T const & Mass,
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T const & Radius
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)
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{
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T a = T(2) * Mass * Radius * Radius / T(3);
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return detail::tmat3x3<T>(a);
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> sphereInertia4
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(
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T const & Mass,
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T const & Radius
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)
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{
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T a = T(2) * Mass * Radius * Radius / T(3);
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detail::tmat4x4<T> Result(a);
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Result[3][3] = T(1);
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return Result;
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}
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}//namespace glm
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