Example #1
0
        private void UpdateData()
        {
            localCentroid = Vec3f.Zero;
            Mass          = 0;

            for (int i = 0; i < colliders.Length; i++)
            {
                Collider col = colliders[i];
                col.body       = this;
                Mass          += col.mass;
                localCentroid += col.mass * col.localCentroid;
            }

            InverseMass    = 1 / Mass;
            localCentroid *= InverseMass;

            Mat3f localInertiaTensor = Mat3f.Zero;

            for (int i = 0; i < colliders.Length; i++)
            {
                Collider col   = colliders[i];
                Vec3f    r     = localCentroid - col.localCentroid;
                float    rDotR = Vec3f.Dot(r, r);
                Mat3f    rOutR = Mat3f.OuterProduct(r, r);

                localInertiaTensor = col.localInertiaTensor + col.mass * (rDotR * Mat3f.Identity - rOutR);
            }

            localInverseInertiaTensor = localInertiaTensor.Inverted();
        }
Example #2
0
        private void UpdateOrientation()
        {
            Quatf q = orientation.GetRotation();

            q.Normalize();
            orientation = Mat3f.CreateRotation(q);
        }
Example #3
0
 public static void Write(this BinaryWriter writer, Mat3f mat)
 {
     writer.Write(mat.c0);
     writer.Write(mat.c1);
     writer.Write(mat.c2);
 }
Example #4
0
 private void UpdateInertiaTensor()
 {
     globalInverseInertiaTensor = orientation * localInverseInertiaTensor * inverseOrientation;
 }