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///////////////////////////////////////////////////////////////////////////////////////////////////
// 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
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