Merge pull request #4 from FOSSEE/develop

merging dev into master

1 files changed, 114 insertions, 0 deletions

diff --git a/include/gal/opengl/glm/gtx/inertia.inl b/include/gal/opengl/glm/gtx/inertia.inl
new file mode 100644
index 0000000..a8f2ad7
--- /dev/null
+++ b/include/gal/opengl/glm/gtx/inertia.inl
@@ -0,0 +1,114 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// 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