public override void ComputeMass(MassData massData, float density)
{
massData.Mass = 0.0f;
massData.Center.SetZero();
massData.I = 0.0f;
}
public virtual void set_Renamed(MassData md)
{
mass = md.mass;
I = md.I;
center.set_Renamed(md.center);
}
/// <summary>
/// Copies from the given mass data
/// </summary>
/// <param name="md">mass data to copy from</param>
public MassData(MassData md)
{
mass = md.mass;
I = md.I;
center = md.center.Clone();
}
/// <summary> /// Compute the mass properties of this shape using its dimensions and density. The inertia tensor /// is computed about the local origin. /// </summary> /// <param name="massData">returns the mass data for this shape.</param> /// <param name="density">the density in kilograms per meter squared.</param> public abstract void computeMass(MassData massData, float density);
public override void computeMass(MassData massData, float density)
{
massData.mass = density * Settings.PI * m_radius * m_radius;
massData.center.set_Renamed(m_p);
// inertia about the local origin
massData.I = massData.mass * (0.5f * m_radius * m_radius + Vec2.dot(m_p, m_p));
}
/// <summary>
/// Set the mass properties to override the mass properties of the fixtures. Note that this changes
/// the center of mass position. Note that creating or destroying fixtures can also alter the mass.
/// This function has no effect if the body isn't dynamic.
/// </summary>
/// <param name="massData">the mass properties.</param>
public void SetMassData(MassData massData)
{
// TODO_ERIN adjust linear velocity and torque to account for movement of center.
Debug.Assert(World.Locked == false);
if (World.Locked)
{
return;
}
if (m_type != BodyType.Dynamic)
{
return;
}
InvMass = 0.0f;
I = 0.0f;
InvI = 0.0f;
Mass = massData.Mass;
if (Mass <= 0.0f)
{
Mass = 1f;
}
InvMass = 1.0f / Mass;
if (massData.I > 0.0f && (Flags & TypeFlags.FixedRotation) == 0)
{
I = massData.I - Mass * Vec2.Dot(massData.Center, massData.Center);
Debug.Assert(I > 0.0f);
InvI = 1.0f / I;
}
Vec2 oldCenter = World.Pool.PopVec2();
// Move center of mass.
oldCenter.Set(Sweep.C);
Sweep.LocalCenter.Set(massData.Center);
// m_sweep.c0 = m_sweep.c = Mul(m_xf, m_sweep.localCenter);
Transform.MulToOutUnsafe(Xf, Sweep.LocalCenter, Sweep.C0);
Sweep.C.Set(Sweep.C0);
// Update center of mass velocity.
// m_linearVelocity += Cross(m_angularVelocity, m_sweep.c - oldCenter);
Vec2 temp = World.Pool.PopVec2();
temp.Set(Sweep.C).SubLocal(oldCenter);
Vec2.CrossToOut(m_angularVelocity, temp, temp);
m_linearVelocity.AddLocal(temp);
World.Pool.PushVec2(2);
}
public override void ComputeMass(MassData massData, float density)
{
massData.Mass = 0.0f;
massData.Center.Set(Vertex1).AddLocal(Vertex2).MulLocal(0.5f);
massData.I = 0.0f;
}
public override void ComputeMass(MassData massData, float density)
{
// Polygon mass, centroid, and inertia.
// Let rho be the polygon density in mass per unit area.
// Then:
// mass = rho * int(dA)
// centroid.x = (1/mass) * rho * int(x * dA)
// centroid.y = (1/mass) * rho * int(y * dA)
// I = rho * int((x*x + y*y) * dA)
//
// We can compute these integrals by summing all the integrals
// for each triangle of the polygon. To evaluate the integral
// for a single triangle, we make a change of variables to
// the (u,v) coordinates of the triangle:
// x = x0 + e1x * u + e2x * v
// y = y0 + e1y * u + e2y * v
// where 0 <= u && 0 <= v && u + v <= 1.
//
// We integrate u from [0,1-v] and then v from [0,1].
// We also need to use the Jacobian of the transformation:
// D = cross(e1, e2)
//
// Simplification: triangle centroid = (1/3) * (p1 + p2 + p3)
//
// The rest of the derivation is handled by computer algebra.
Debug.Assert(VertexCount >= 3);
Vec2 center = pool1;
center.SetZero();
float area = 0.0f;
float I = 0.0f;
// pRef is the reference point for forming triangles.
// It's location doesn't change the result (except for rounding error).
Vec2 s = pool2;
s.SetZero();
// This code would put the reference point inside the polygon.
for (int i = 0; i < VertexCount; ++i)
{
s.AddLocal(Vertices[i]);
}
s.MulLocal(1.0f / VertexCount);
const float k_inv3 = 1.0f / 3.0f;
Vec2 e1 = pool3;
Vec2 e2 = pool4;
for (int i = 0; i < VertexCount; ++i)
{
// Triangle vertices.
e1.Set(Vertices[i]).SubLocal(s);
e2.Set(s).NegateLocal().AddLocal(i + 1 < VertexCount ? Vertices[i + 1] : Vertices[0]);
float D = Vec2.Cross(e1, e2);
float triangleArea = 0.5f * D;
area += triangleArea;
// Area weighted centroid
center.X += triangleArea * k_inv3 * (e1.X + e2.X);
center.Y += triangleArea * k_inv3 * (e1.Y + e2.Y);
float ex1 = e1.X;
float ey1 = e1.Y;
float ex2 = e2.X;
float ey2 = e2.Y;
float intx2 = ex1 * ex1 + ex2 * ex1 + ex2 * ex2;
float inty2 = ey1 * ey1 + ey2 * ey1 + ey2 * ey2;
I += (0.25f * k_inv3 * D) * (intx2 + inty2);
}
// Total mass
massData.Mass = density * area;
// Center of mass
Debug.Assert(area > Settings.EPSILON);
center.MulLocal(1.0f / area);
massData.Center.Set(center).AddLocal(s);
// Inertia tensor relative to the local origin (point s)
massData.I = I * density;
// Shift to center of mass then to original body origin.
massData.I += massData.Mass * (Vec2.Dot(massData.Center, massData.Center));
}
/// <summary>
/// Get the mass data for this fixture. The mass data is based on the density and the shape. The
/// rotational inertia is about the shape's origin.
/// </summary>
/// <returns></returns>
public void GetMassData(MassData massData)
{
Shape.ComputeMass(massData, m_density);
}
public override void computeMass(MassData massData, float density)
{
massData.mass = 0.0f;
massData.center.setZero();
massData.I = 0.0f;
}
/// <summary>
/// Get the mass data for this fixture. The mass data is based on the density and the shape. The
/// rotational inertia is about the shape's origin.
/// </summary>
/// <returns></returns>
public virtual void getMassData(MassData massData)
{
m_shape.computeMass(massData, m_density);
}
/// <summary>
/// Copies from the given mass data
/// </summary>
/// <param name="md">mass data to copy from</param>
public MassData(MassData md)
{
Mass = md.Mass;
I = md.I;
Center = md.Center.Clone();
}
public void Set(MassData md)
{
Mass = md.Mass;
I = md.I;
Center.Set(md.Center);
}
/// <summary>
/// Get the mass data of the body. The rotational inertia is relative to the center of mass.
/// </summary>
/// <returns>a struct containing the mass, inertia and center of the body.</returns>
public void GetMassData(MassData data)
{
// data.mass = m_mass;
// data.I = m_I + m_mass * Vec2.dot(m_sweep.localCenter, m_sweep.localCenter);
// data.center.set(m_sweep.localCenter);
data.Mass = Mass;
data.I = I + Mass * (Sweep.LocalCenter.X * Sweep.LocalCenter.X + Sweep.LocalCenter.Y * Sweep.LocalCenter.Y);
data.Center.X = Sweep.LocalCenter.X;
data.Center.Y = Sweep.LocalCenter.Y;
}
/// <summary>
/// Set the mass properties to override the mass properties of the fixtures. Note that this changes
/// the center of mass position. Note that creating or destroying fixtures can also alter the mass.
/// This function has no effect if the body isn't dynamic.
/// </summary>
/// <param name="massData">the mass properties.</param>
public void setMassData(MassData massData)
{
// TODO_ERIN adjust linear velocity and torque to account for movement of center.
Debug.Assert(m_world.Locked == false);
if (m_world.Locked == true)
{
return;
}
if (m_type != BodyType.DYNAMIC)
{
return;
}
m_invMass = 0.0f;
m_I = 0.0f;
m_invI = 0.0f;
m_mass = massData.mass;
if (m_mass <= 0.0f)
{
m_mass = 1f;
}
m_invMass = 1.0f / m_mass;
if (massData.I > 0.0f && (m_flags & e_fixedRotationFlag) == 0)
{
m_I = massData.I - m_mass * Vec2.dot(massData.center, massData.center);
Debug.Assert(m_I > 0.0f);
m_invI = 1.0f / m_I;
}
Vec2 oldCenter = m_world.Pool.popVec2();
// Move center of mass.
oldCenter.set_Renamed(m_sweep.c);
m_sweep.localCenter.set_Renamed(massData.center);
// m_sweep.c0 = m_sweep.c = Mul(m_xf, m_sweep.localCenter);
Transform.mulToOutUnsafe(m_xf, m_sweep.localCenter, m_sweep.c0);
m_sweep.c.set_Renamed(m_sweep.c0);
// Update center of mass velocity.
// m_linearVelocity += Cross(m_angularVelocity, m_sweep.c - oldCenter);
Vec2 temp = m_world.Pool.popVec2();
temp.set_Renamed(m_sweep.c).subLocal(oldCenter);
Vec2.crossToOut(m_angularVelocity, temp, temp);
m_linearVelocity.addLocal(temp);
m_world.Pool.pushVec2(2);
}
public override void computeMass(MassData massData, float density)
{
massData.mass = 0.0f;
massData.center.set_Renamed(m_vertex1).addLocal(m_vertex2).mulLocal(0.5f);
massData.I = 0.0f;
}
/// <summary>
/// Get the mass data of the body. The rotational inertia is relative to the center of mass.
/// </summary>
/// <returns>a struct containing the mass, inertia and center of the body.</returns>
public void getMassData(MassData data)
{
// data.mass = m_mass;
// data.I = m_I + m_mass * Vec2.dot(m_sweep.localCenter, m_sweep.localCenter);
// data.center.set(m_sweep.localCenter);
data.mass = m_mass;
data.I = m_I + m_mass * (m_sweep.localCenter.x * m_sweep.localCenter.x + m_sweep.localCenter.y * m_sweep.localCenter.y);
data.center.x = m_sweep.localCenter.x;
data.center.y = m_sweep.localCenter.y;
}
public override void ComputeMass(MassData massData, float density)
{
massData.Mass = density * Settings.PI * Radius * Radius;
massData.Center.Set(P);
// inertia about the local origin
massData.I = massData.Mass * (0.5f * Radius * Radius + Vec2.Dot(P, P));
}
