public static PTransformer CalcEffectiveMass(PBody b, Vector2f r)
{
PTransformer mass = new PTransformer(b.invM + b.invI * r.y * r.y,
-b.invI * r.x * r.y, -b.invI * r.x * r.y, b.invM + b.invI * r.x
* r.x);
mass.InvertEqual();
return(mass);
}
public static PTransformer CalcEffectiveMass(PBody b1, PBody b2,
Vector2f r1, Vector2f r2)
{
PTransformer mass = new PTransformer(b1.invM + b2.invM + b1.invI * r1.y
* r1.y + b2.invI * r2.y * r2.y, -b1.invI * r1.x * r1.y
- b2.invI * r2.x * r2.y, -b1.invI * r1.x * r1.y - b2.invI
* r2.x * r2.y, b1.invM + b2.invM + b1.invI * r1.x * r1.x
+ b2.invI * r2.x * r2.x);
mass.InvertEqual();
return(mass);
}
public static PTransformer CalcEffectiveMass(PBody b, Vector2f r) {
PTransformer mass = new PTransformer(b.invM + b.invI * r.y * r.y,
-b.invI * r.x * r.y, -b.invI * r.x * r.y, b.invM + b.invI * r.x
* r.x);
mass.InvertEqual();
return mass;
}
public static PTransformer CalcEffectiveMass(PBody b1, PBody b2,
Vector2f r1, Vector2f r2) {
PTransformer mass = new PTransformer(b1.invM + b2.invM + b1.invI * r1.y
* r1.y + b2.invI * r2.y * r2.y, -b1.invI * r1.x * r1.y
- b2.invI * r2.x * r2.y, -b1.invI * r1.x * r1.y - b2.invI
* r2.x * r2.y, b1.invM + b2.invM + b1.invI * r1.x * r1.x
+ b2.invI * r2.x * r2.x);
mass.InvertEqual();
return mass;
}