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Andrew Meadows 2015-05-26 22:53:57 -07:00
parent efbb9b0238
commit 708203089c
2 changed files with 39 additions and 39 deletions
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76
libraries/physics/src/MeshMassProperties.cpp
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@ -86,18 +86,18 @@ void computeTetrahedronInertia(btScalar mass, btVector3* points, btMatrix3x3& in
// helper function // helper function
void computePointInertia(const btVector3& point, btScalar mass, btMatrix3x3& inertia) { void computePointInertia(const btVector3& point, btScalar mass, btMatrix3x3& inertia) {
btScalar distanceSquared = point.length2(); btScalar distanceSquared = point.length2();
if (distanceSquared > 0.0f) { if (distanceSquared > 0.0f) {
for (uint32_t i = 0; i < 3; ++i) { for (uint32_t i = 0; i < 3; ++i) {
btScalar pointi = point[i]; btScalar pointi = point[i];
inertia[i][i] = mass * (distanceSquared - (pointi * pointi)); inertia[i][i] = mass * (distanceSquared - (pointi * pointi));
for (uint32_t j = i + 1; j < 3; ++j) { for (uint32_t j = i + 1; j < 3; ++j) {
btScalar offDiagonal = - mass * pointi * point[j]; btScalar offDiagonal = - mass * pointi * point[j];
inertia[i][j] = offDiagonal; inertia[i][j] = offDiagonal;
inertia[j][i] = offDiagonal; inertia[j][i] = offDiagonal;
} }
} }
} }
} }
// this method is included for unit test verification // this method is included for unit test verification
@ -204,48 +204,48 @@ btScalar computeTetrahedronVolume(btVector3* points) {
void applyParallelAxisTheorem(btMatrix3x3& inertia, const btVector3& shift, btScalar mass) { void applyParallelAxisTheorem(btMatrix3x3& inertia, const btVector3& shift, btScalar mass) {
// Parallel Axis Theorem says: // Parallel Axis Theorem says:
// //
// Ishifted = Icm + M * [ (R*R)E - R(x)R ] // Ishifted = Icm + M * [ (R*R)E - R(x)R ]
// //
// where R*R = inside product // where R*R = inside product
// R(x)R = outside product // R(x)R = outside product
// E = identity matrix // E = identity matrix
btScalar distanceSquared = shift.length2(); btScalar distanceSquared = shift.length2();
if (distanceSquared > btScalar(0.0f)) { if (distanceSquared > btScalar(0.0f)) {
for (uint32_t i = 0; i < 3; ++i) { for (uint32_t i = 0; i < 3; ++i) {
btScalar shifti = shift[i]; btScalar shifti = shift[i];
inertia[i][i] += mass * (distanceSquared - (shifti * shifti)); inertia[i][i] += mass * (distanceSquared - (shifti * shifti));
for (uint32_t j = i + 1; j < 3; ++j) { for (uint32_t j = i + 1; j < 3; ++j) {
btScalar offDiagonal = mass * shifti * shift[j]; btScalar offDiagonal = mass * shifti * shift[j];
inertia[i][j] -= offDiagonal; inertia[i][j] -= offDiagonal;
inertia[j][i] -= offDiagonal; inertia[j][i] -= offDiagonal;
} }
} }
} }
} }
// helper function // helper function
void applyInverseParallelAxisTheorem(btMatrix3x3& inertia, const btVector3& shift, btScalar mass) { void applyInverseParallelAxisTheorem(btMatrix3x3& inertia, const btVector3& shift, btScalar mass) {
// Parallel Axis Theorem says: // Parallel Axis Theorem says:
// //
// Ishifted = Icm + M * [ (R*R)E - R(x)R ] // Ishifted = Icm + M * [ (R*R)E - R(x)R ]
// //
// So the inverse would be: // So the inverse would be:
// //
// Icm = Ishifted - M * [ (R*R)E - R(x)R ] // Icm = Ishifted - M * [ (R*R)E - R(x)R ]
btScalar distanceSquared = shift.length2(); btScalar distanceSquared = shift.length2();
if (distanceSquared > btScalar(0.0f)) { if (distanceSquared > btScalar(0.0f)) {
for (uint32_t i = 0; i < 3; ++i) { for (uint32_t i = 0; i < 3; ++i) {
btScalar shifti = shift[i]; btScalar shifti = shift[i];
inertia[i][i] -= mass * (distanceSquared - (shifti * shifti)); inertia[i][i] -= mass * (distanceSquared - (shifti * shifti));
for (uint32_t j = i + 1; j < 3; ++j) { for (uint32_t j = i + 1; j < 3; ++j) {
btScalar offDiagonal = mass * shifti * shift[j]; btScalar offDiagonal = mass * shifti * shift[j];
inertia[i][j] += offDiagonal; inertia[i][j] += offDiagonal;
inertia[j][i] += offDiagonal; inertia[j][i] += offDiagonal;
} }
} }
} }
} }
MeshMassProperties::MeshMassProperties(const VectorOfPoints& points, const VectorOfIndices& triangleIndices) { MeshMassProperties::MeshMassProperties(const VectorOfPoints& points, const VectorOfIndices& triangleIndices) {

2
tests/physics/src/MeshMassPropertiesTests.cpp
View file

@ -446,7 +446,7 @@ void MeshMassPropertiesTests::runAllTests() {
testParallelAxisTheorem(); testParallelAxisTheorem();
testTetrahedron(); testTetrahedron();
testOpenTetrahedonMesh(); testOpenTetrahedonMesh();
testClosedTetrahedronMesh(); testClosedTetrahedronMesh();
testBoxAsMesh(); testBoxAsMesh();
//testWithCube(); //testWithCube();
} }