1 /////////////////////////////////////////////////////////////////////////////////////////////////// 2 // OpenGL Mathematics Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net) 3 /////////////////////////////////////////////////////////////////////////////////////////////////// 4 // Created : 2006-04-21 5 // Updated : 2006-12-06 6 // Licence : This source is under MIT License 7 // File : glm/gtx/inertia.inl 8 /////////////////////////////////////////////////////////////////////////////////////////////////// 9 10 namespace glm 11 { 12 /* 13 template <typename T> 14 GLM_FUNC_QUALIFIER detail::tmat3x3<T, P> boxInertia3 15 ( 16 T const & Mass, 17 detail::tvec3<T, P> const & Scale 18 ) 19 { 20 detail::tmat3x3<T, P> Result(T(1)); 21 Result[0][0] = (Scale.y * Scale.y + Scale.z * Scale.z) * Mass / T(12); 22 Result[1][1] = (Scale.x * Scale.x + Scale.z * Scale.z) * Mass / T(12); 23 Result[2][2] = (Scale.x * Scale.x + Scale.y * Scale.y) * Mass / T(12); 24 return Result; 25 } 26 27 template <typename T> 28 GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> boxInertia4 29 ( 30 T const & Mass, 31 detail::tvec3<T, P> const & Scale 32 ) 33 { 34 detail::tmat4x4<T, P> Result(T(1)); 35 Result[0][0] = (Scale.y * Scale.y + Scale.z * Scale.z) * Mass / T(12); 36 Result[1][1] = (Scale.x * Scale.x + Scale.z * Scale.z) * Mass / T(12); 37 Result[2][2] = (Scale.x * Scale.x + Scale.y * Scale.y) * Mass / T(12); 38 return Result; 39 } 40 41 template <typename T> 42 GLM_FUNC_QUALIFIER detail::tmat3x3<T, P> diskInertia3 43 ( 44 T const & Mass, 45 T const & Radius 46 ) 47 { 48 T a = Mass * Radius * Radius / T(2); 49 detail::tmat3x3<T, P> Result(a); 50 Result[2][2] *= static_cast<T>(2); 51 return Result; 52 } 53 54 template <typename T> 55 GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> diskInertia4 56 ( 57 T const & Mass, 58 T const & Radius 59 ) 60 { 61 T a = Mass * Radius * Radius / T(2); 62 detail::tmat4x4<T, P> Result(a); 63 Result[2][2] *= static_cast<T>(2); 64 Result[3][3] = static_cast<T>(1); 65 return Result; 66 } 67 68 template <typename T> 69 GLM_FUNC_QUALIFIER detail::tmat3x3<T, P> ballInertia3 70 ( 71 T const & Mass, 72 T const & Radius 73 ) 74 { 75 T a = static_cast<T>(2) * Mass * Radius * Radius / T(5); 76 return detail::tmat3x3<T, P>(a); 77 } 78 79 template <typename T> 80 GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> ballInertia4 81 ( 82 T const & Mass, 83 T const & Radius 84 ) 85 { 86 T a = static_cast<T>(2) * Mass * Radius * Radius / T(5); 87 detail::tmat4x4<T, P> Result(a); 88 Result[3][3] = static_cast<T>(1); 89 return Result; 90 } 91 92 template <typename T> 93 GLM_FUNC_QUALIFIER detail::tmat3x3<T, P> sphereInertia3 94 ( 95 T const & Mass, 96 T const & Radius 97 ) 98 { 99 T a = static_cast<T>(2) * Mass * Radius * Radius / T(3); 100 return detail::tmat3x3<T, P>(a); 101 } 102 103 template <typename T> 104 GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> sphereInertia4 105 ( 106 T const & Mass, 107 T const & Radius 108 ) 109 { 110 T a = static_cast<T>(2) * Mass * Radius * Radius / T(3); 111 detail::tmat4x4<T, P> Result(a); 112 Result[3][3] = static_cast<T>(1); 113 return Result; 114 } 115 */ 116 }//namespace glm 117
