//------------------------------------Private Functions-------------------------------------
private Matrix4x4 CalculateInertiaTensor()
{
// Calculating the moment of inertia of the body.
Vector3 momentOfInertia = Vector3.one;
switch (pCollider.pType)
{
case ColliderType.Sphere:
momentOfInertia *= PSI_PhysicsUtils.MomentOfInertiaOfSphere(Mass, ((PSI_Collider_Sphere)pCollider).pRadius);
break;
case ColliderType.Box:
momentOfInertia = PSI_PhysicsUtils.MomentOfInertiaOfBox(Mass, ((PSI_Collider_Box)pCollider).pSize);
break;
default:
return(Matrix4x4.identity);
}
// Using the moment of inertia to construct the inertia tensor matrix.
Matrix4x4 inertiaTensor = new Matrix4x4();
inertiaTensor.m00 = momentOfInertia.x;
inertiaTensor.m11 = momentOfInertia.y;
inertiaTensor.m22 = momentOfInertia.z;
inertiaTensor.m33 = 1f;
return(inertiaTensor);
}
private Vector3 CalculateAngularAcceleration(Vector3 torque)
{
// Geting the moment of inertia of the body and using to calculate the accelerating due to torque.
switch (pCollider.pType)
{
case ColliderType.Sphere:
return((Mathf.Rad2Deg * torque) * PSI_PhysicsUtils.MomentOfInertiaOfSphere(Mass, ((PSI_Collider_Sphere)pCollider).pRadius));
case ColliderType.Box:
Vector3 angAcc = (Mathf.Rad2Deg * torque);
Vector3 momentOfInertia = PSI_PhysicsUtils.MomentOfInertiaOfBox(Mass, ((PSI_Collider_Box)pCollider).pSize);
angAcc.x *= momentOfInertia.x;
angAcc.y *= momentOfInertia.y;
angAcc.z *= momentOfInertia.z;
return(angAcc);
default:
return(Vector3.zero);
}
}