| /////////////////////////////////////////////////////////////////////////////////////////////////// |
| // OpenGL Mathematics Copyright (c) 2005 - 2014 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, P> boxInertia3 |
| ( |
| T const & Mass, |
| detail::tvec3<T, P> const & Scale |
| ) |
| { |
| detail::tmat3x3<T, P> 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, P> boxInertia4 |
| ( |
| T const & Mass, |
| detail::tvec3<T, P> const & Scale |
| ) |
| { |
| detail::tmat4x4<T, P> 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, P> diskInertia3 |
| ( |
| T const & Mass, |
| T const & Radius |
| ) |
| { |
| T a = Mass * Radius * Radius / T(2); |
| detail::tmat3x3<T, P> Result(a); |
| Result[2][2] *= static_cast<T>(2); |
| return Result; |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> diskInertia4 |
| ( |
| T const & Mass, |
| T const & Radius |
| ) |
| { |
| T a = Mass * Radius * Radius / T(2); |
| detail::tmat4x4<T, P> Result(a); |
| Result[2][2] *= static_cast<T>(2); |
| Result[3][3] = static_cast<T>(1); |
| return Result; |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat3x3<T, P> ballInertia3 |
| ( |
| T const & Mass, |
| T const & Radius |
| ) |
| { |
| T a = static_cast<T>(2) * Mass * Radius * Radius / T(5); |
| return detail::tmat3x3<T, P>(a); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> ballInertia4 |
| ( |
| T const & Mass, |
| T const & Radius |
| ) |
| { |
| T a = static_cast<T>(2) * Mass * Radius * Radius / T(5); |
| detail::tmat4x4<T, P> Result(a); |
| Result[3][3] = static_cast<T>(1); |
| return Result; |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat3x3<T, P> sphereInertia3 |
| ( |
| T const & Mass, |
| T const & Radius |
| ) |
| { |
| T a = static_cast<T>(2) * Mass * Radius * Radius / T(3); |
| return detail::tmat3x3<T, P>(a); |
| } |
| |
| template <typename T> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> sphereInertia4 |
| ( |
| T const & Mass, |
| T const & Radius |
| ) |
| { |
| T a = static_cast<T>(2) * Mass * Radius * Radius / T(3); |
| detail::tmat4x4<T, P> Result(a); |
| Result[3][3] = static_cast<T>(1); |
| return Result; |
| } |
| */ |
| }//namespace glm |