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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, P> boxInertia3 |
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( |
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T const & Mass, |
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detail::tvec3<T, P> const & Scale |
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) |
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{ |
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detail::tmat3x3<T, P> 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, P> boxInertia4 |
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( |
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T const & Mass, |
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detail::tvec3<T, P> const & Scale |
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) |
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{ |
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detail::tmat4x4<T, P> 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, P> 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, P> 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, P> 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, P> 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, P> 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, P>(a); |
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} |
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template <typename T> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> 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, P> 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, P> 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, P>(a); |
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} |
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template <typename T> |
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GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> 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, P> 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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