mirror of
https://github.com/libretro/scenewalker-libretro.git
synced 2024-11-23 07:49:43 +00:00
115 lines
2.8 KiB
C++
115 lines
2.8 KiB
C++
///////////////////////////////////////////////////////////////////////////////////////////////////
|
|
// OpenGL Mathematics Copyright (c) 2005 - 2013 G-Truc Creation (www.g-truc.net)
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
|
// Created : 2006-04-21
|
|
// Updated : 2006-12-06
|
|
// Licence : This source is under MIT License
|
|
// File : glm/gtx/inertia.inl
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
namespace glm
|
|
{
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER detail::tmat3x3<T> boxInertia3
|
|
(
|
|
T const & Mass,
|
|
detail::tvec3<T> const & Scale
|
|
)
|
|
{
|
|
detail::tmat3x3<T> Result(T(1));
|
|
Result[0][0] = (Scale.y * Scale.y + Scale.z * Scale.z) * Mass / T(12);
|
|
Result[1][1] = (Scale.x * Scale.x + Scale.z * Scale.z) * Mass / T(12);
|
|
Result[2][2] = (Scale.x * Scale.x + Scale.y * Scale.y) * Mass / T(12);
|
|
return Result;
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER detail::tmat4x4<T> boxInertia4
|
|
(
|
|
T const & Mass,
|
|
detail::tvec3<T> const & Scale
|
|
)
|
|
{
|
|
detail::tmat4x4<T> Result(T(1));
|
|
Result[0][0] = (Scale.y * Scale.y + Scale.z * Scale.z) * Mass / T(12);
|
|
Result[1][1] = (Scale.x * Scale.x + Scale.z * Scale.z) * Mass / T(12);
|
|
Result[2][2] = (Scale.x * Scale.x + Scale.y * Scale.y) * Mass / T(12);
|
|
return Result;
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER detail::tmat3x3<T> diskInertia3
|
|
(
|
|
T const & Mass,
|
|
T const & Radius
|
|
)
|
|
{
|
|
T a = Mass * Radius * Radius / T(2);
|
|
detail::tmat3x3<T> Result(a);
|
|
Result[2][2] *= T(2);
|
|
return Result;
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER detail::tmat4x4<T> diskInertia4
|
|
(
|
|
T const & Mass,
|
|
T const & Radius
|
|
)
|
|
{
|
|
T a = Mass * Radius * Radius / T(2);
|
|
detail::tmat4x4<T> Result(a);
|
|
Result[2][2] *= T(2);
|
|
Result[3][3] = T(1);
|
|
return Result;
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER detail::tmat3x3<T> ballInertia3
|
|
(
|
|
T const & Mass,
|
|
T const & Radius
|
|
)
|
|
{
|
|
T a = T(2) * Mass * Radius * Radius / T(5);
|
|
return detail::tmat3x3<T>(a);
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER detail::tmat4x4<T> ballInertia4
|
|
(
|
|
T const & Mass,
|
|
T const & Radius
|
|
)
|
|
{
|
|
T a = T(2) * Mass * Radius * Radius / T(5);
|
|
detail::tmat4x4<T> Result(a);
|
|
Result[3][3] = T(1);
|
|
return Result;
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER detail::tmat3x3<T> sphereInertia3
|
|
(
|
|
T const & Mass,
|
|
T const & Radius
|
|
)
|
|
{
|
|
T a = T(2) * Mass * Radius * Radius / T(3);
|
|
return detail::tmat3x3<T>(a);
|
|
}
|
|
|
|
template <typename T>
|
|
GLM_FUNC_QUALIFIER detail::tmat4x4<T> sphereInertia4
|
|
(
|
|
T const & Mass,
|
|
T const & Radius
|
|
)
|
|
{
|
|
T a = T(2) * Mass * Radius * Radius / T(3);
|
|
detail::tmat4x4<T> Result(a);
|
|
Result[3][3] = T(1);
|
|
return Result;
|
|
}
|
|
}//namespace glm
|