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| author | sschirm <[email protected]> | 2016-12-23 14:20:36 +0100 |
|---|---|---|
| committer | sschirm <[email protected]> | 2016-12-23 14:56:17 +0100 |
| commit | ef6937e69e8ee3f409cf9d460d5ad300a65d5924 (patch) | |
| tree | 710426e8daa605551ce3f34b581897011101c30f /PhysX_3.4/Documentation/PhysXAPI/files/PxMassProperties_8h-source.html | |
| parent | Initial commit: (diff) | |
| download | physx-3.4-ef6937e69e8ee3f409cf9d460d5ad300a65d5924.tar.xz physx-3.4-ef6937e69e8ee3f409cf9d460d5ad300a65d5924.zip | |
PhysX 3.4 / APEX 1.4 release candidate @21506124
Diffstat (limited to 'PhysX_3.4/Documentation/PhysXAPI/files/PxMassProperties_8h-source.html')
| -rw-r--r-- | PhysX_3.4/Documentation/PhysXAPI/files/PxMassProperties_8h-source.html | 309 |
1 files changed, 159 insertions, 150 deletions
diff --git a/PhysX_3.4/Documentation/PhysXAPI/files/PxMassProperties_8h-source.html b/PhysX_3.4/Documentation/PhysXAPI/files/PxMassProperties_8h-source.html index 46419a2b..e04aaa3c 100644 --- a/PhysX_3.4/Documentation/PhysXAPI/files/PxMassProperties_8h-source.html +++ b/PhysX_3.4/Documentation/PhysXAPI/files/PxMassProperties_8h-source.html @@ -95,7 +95,7 @@ <a name="l00098"></a>00098 <span class="keyword">const</span> <a class="code" href="classPxBoxGeometry.html" title="Class representing the geometry of a box.">PxBoxGeometry</a>& b = <span class="keyword">static_cast<</span><span class="keyword">const </span><a class="code" href="classPxBoxGeometry.html" title="Class representing the geometry of a box.">PxBoxGeometry</a>&<span class="keyword">></span>(geometry); <a name="l00099"></a>00099 mass = b.<a class="code" href="classPxBoxGeometry.html#8fe8be4ca1467353956634d550dc8561" title="Half of the width, height, and depth of the box.">halfExtents</a>.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> * b.<a class="code" href="classPxBoxGeometry.html#8fe8be4ca1467353956634d550dc8561" title="Half of the width, height, and depth of the box.">halfExtents</a>.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a> * b.<a class="code" href="classPxBoxGeometry.html#8fe8be4ca1467353956634d550dc8561" title="Half of the width, height, and depth of the box.">halfExtents</a>.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a> * 8.0f; <a name="l00100"></a>00100 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> d2 = b.<a class="code" href="classPxBoxGeometry.html#8fe8be4ca1467353956634d550dc8561" title="Half of the width, height, and depth of the box.">halfExtents</a>.<a class="code" href="classPxVec3.html#9cc40866bdd9940ef8a3cc8d2a75a593" title="a[i] * b[i], for all i.">multiply</a>(b.<a class="code" href="classPxBoxGeometry.html#8fe8be4ca1467353956634d550dc8561" title="Half of the width, height, and depth of the box.">halfExtents</a>); -<a name="l00101"></a>00101 inertiaTensor = <a class="code" href="classPxMat33.html#e7052afa072d3c45c1f570a6a794c6a5" title="Construct from diagonal, off-diagonals are zero.">PxMat33::createDiagonal</a>(<a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(d2.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a> + d2.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>, d2.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> + d2.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>, d2.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> + d2.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>)) * (mass * 2.0f / 3.0f); +<a name="l00101"></a>00101 inertiaTensor = <a class="code" href="classPxMat33.html#e7052afa072d3c45c1f570a6a794c6a5" title="Construct from diagonal, off-diagonals are zero.">PxMat33::createDiagonal</a>(<a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(d2.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a> + d2.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>, d2.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> + d2.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>, d2.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> + d2.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>)) * (mass * 1.0f / 3.0f); <a name="l00102"></a>00102 centerOfMass = <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(0.0f); <a name="l00103"></a>00103 } <a name="l00104"></a>00104 <span class="keywordflow">break</span>; @@ -117,159 +117,168 @@ <a name="l00120"></a>00120 { <a name="l00121"></a>00121 <span class="keyword">const</span> <a class="code" href="classPxConvexMeshGeometry.html" title="Convex mesh geometry class.">PxConvexMeshGeometry</a>& c = <span class="keyword">static_cast<</span><span class="keyword">const </span><a class="code" href="classPxConvexMeshGeometry.html" title="Convex mesh geometry class.">PxConvexMeshGeometry</a>&<span class="keyword">></span>(geometry); <a name="l00122"></a>00122 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> unscaledCoM; -<a name="l00123"></a>00123 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> unscaledInertiaTensor; -<a name="l00124"></a>00124 <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> unscaledMass; -<a name="l00125"></a>00125 c.<a class="code" href="classPxConvexMeshGeometry.html#2fdc589d347de81e55c8b45b7c133feb" title="A reference to the convex mesh object.">convexMesh</a>-><a class="code" href="classPxConvexMesh.html#497cea6e1975b9081760afc602985bbc" title="Returns the mass properties of the mesh assuming unit density.">getMassInformation</a>(unscaledMass, unscaledInertiaTensor, unscaledCoM); -<a name="l00126"></a>00126 -<a name="l00127"></a>00127 <span class="keyword">const</span> <a class="code" href="classPxMeshScale.html" title="A class expressing a nonuniform scaling transformation.">PxMeshScale</a>& s = c.<a class="code" href="classPxConvexMeshGeometry.html#777f625bb1fd49fabf03eb4be02ed581" title="The scaling transformation (from vertex space to shape space).">scale</a>; -<a name="l00128"></a>00128 mass = unscaledMass * s.<a class="code" href="classPxMeshScale.html#12f2dbcf5214c4c5956dab0e75831449" title="A nonuniform scaling.">scale</a>.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> * s.<a class="code" href="classPxMeshScale.html#12f2dbcf5214c4c5956dab0e75831449" title="A nonuniform scaling.">scale</a>.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a> * s.<a class="code" href="classPxMeshScale.html#12f2dbcf5214c4c5956dab0e75831449" title="A nonuniform scaling.">scale</a>.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>; -<a name="l00129"></a>00129 centerOfMass = s.<a class="code" href="classPxMeshScale.html#63902c04c9a3f326b5f969fa931e53fd" title="The orientation of the scaling axes.">rotation</a>.<a class="code" href="classPxQuat.html#b5ffbf8b2b7bd871e6ac0b854fd5730e">rotate</a>(s.<a class="code" href="classPxMeshScale.html#12f2dbcf5214c4c5956dab0e75831449" title="A nonuniform scaling.">scale</a>.<a class="code" href="classPxVec3.html#9cc40866bdd9940ef8a3cc8d2a75a593" title="a[i] * b[i], for all i.">multiply</a>(s.<a class="code" href="classPxMeshScale.html#63902c04c9a3f326b5f969fa931e53fd" title="The orientation of the scaling axes.">rotation</a>.<a class="code" href="classPxQuat.html#6ce4a234b750b076459632e60579cf78">rotateInv</a>(unscaledCoM))); -<a name="l00130"></a>00130 inertiaTensor = scaleInertia(unscaledInertiaTensor, s.<a class="code" href="classPxMeshScale.html#63902c04c9a3f326b5f969fa931e53fd" title="The orientation of the scaling axes.">rotation</a>, s.<a class="code" href="classPxMeshScale.html#12f2dbcf5214c4c5956dab0e75831449" title="A nonuniform scaling.">scale</a>); -<a name="l00131"></a>00131 } -<a name="l00132"></a>00132 <span class="keywordflow">break</span>; -<a name="l00133"></a>00133 -<a name="l00134"></a>00134 <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#efc79f72c4c479192ac19d41a6f30ed577b1d68c4f5a18bc259a623e1497a880">PxGeometryType::eHEIGHTFIELD</a>: -<a name="l00135"></a>00135 <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#efc79f72c4c479192ac19d41a6f30ed531e6fe000bdf2ba4c3bd2527351247fc">PxGeometryType::ePLANE</a>: -<a name="l00136"></a>00136 <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#efc79f72c4c479192ac19d41a6f30ed56b3210a7dca3bddcc8755338987725eb">PxGeometryType::eTRIANGLEMESH</a>: -<a name="l00137"></a>00137 <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#efc79f72c4c479192ac19d41a6f30ed573f7721d7db869464f4038638466d5ac" title="internal use only!">PxGeometryType::eINVALID</a>: -<a name="l00138"></a>00138 <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#efc79f72c4c479192ac19d41a6f30ed5fa28e3dbd2e28f7c0948c35723f42105" title="internal use only!">PxGeometryType::eGEOMETRY_COUNT</a>: -<a name="l00139"></a>00139 { -<a name="l00140"></a>00140 *<span class="keyword">this</span> = <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a>(); -<a name="l00141"></a>00141 } -<a name="l00142"></a>00142 <span class="keywordflow">break</span>; -<a name="l00143"></a>00143 } -<a name="l00144"></a>00144 -<a name="l00145"></a>00145 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertiaTensor.column0.isFinite() && inertiaTensor.column1.isFinite() && inertiaTensor.column2.isFinite()); -<a name="l00146"></a>00146 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(centerOfMass.isFinite()); -<a name="l00147"></a>00147 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gd6de0f4af98c5c5280b8fe695dc87318" title="returns true if the passed number is a finite floating point number as opposed to...">PxIsFinite</a>(mass)); -<a name="l00148"></a>00148 } -<a name="l00149"></a>00149 -<a name="l00156"></a><a class="code" href="classPxMassProperties.html#17203e50d0713712a2784a2ad51ed198">00156</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a> <a class="code" href="group__foundation.html#ga7415102b45174d3eda4d4f2f12127bc">operator*</a>(<span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> scale)<span class="keyword"> const</span> -<a name="l00157"></a>00157 <span class="keyword"> </span>{ -<a name="l00158"></a>00158 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gd6de0f4af98c5c5280b8fe695dc87318" title="returns true if the passed number is a finite floating point number as opposed to...">PxIsFinite</a>(scale)); -<a name="l00159"></a>00159 -<a name="l00160"></a>00160 <span class="keywordflow">return</span> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a>(mass * scale, inertiaTensor * scale, centerOfMass); -<a name="l00161"></a>00161 } -<a name="l00162"></a>00162 -<a name="l00168"></a><a class="code" href="classPxMassProperties.html#6b65afdb22147ade5f1ca7f77e591924">00168</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> translate(<span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& t) -<a name="l00169"></a>00169 { -<a name="l00170"></a>00170 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(t.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00123"></a>00123 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> unscaledInertiaTensorNonCOM; <span class="comment">// inertia tensor of convex mesh in mesh local space</span> +<a name="l00124"></a>00124 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> unscaledInertiaTensorCOM; +<a name="l00125"></a>00125 <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> unscaledMass; +<a name="l00126"></a>00126 c.<a class="code" href="classPxConvexMeshGeometry.html#2fdc589d347de81e55c8b45b7c133feb" title="A reference to the convex mesh object.">convexMesh</a>-><a class="code" href="classPxConvexMesh.html#497cea6e1975b9081760afc602985bbc" title="Returns the mass properties of the mesh assuming unit density.">getMassInformation</a>(unscaledMass, unscaledInertiaTensorNonCOM, unscaledCoM); +<a name="l00127"></a>00127 +<a name="l00128"></a>00128 <span class="comment">// inertia tensor relative to center of mass</span> +<a name="l00129"></a>00129 unscaledInertiaTensorCOM[0][0] = unscaledInertiaTensorNonCOM[0][0] - unscaledMass*<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>((unscaledCoM.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>*unscaledCoM.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>+unscaledCoM.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>*unscaledCoM.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>)); +<a name="l00130"></a>00130 unscaledInertiaTensorCOM[1][1] = unscaledInertiaTensorNonCOM[1][1] - unscaledMass*<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>((unscaledCoM.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>*unscaledCoM.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>+unscaledCoM.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a>*unscaledCoM.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a>)); +<a name="l00131"></a>00131 unscaledInertiaTensorCOM[2][2] = unscaledInertiaTensorNonCOM[2][2] - unscaledMass*<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>((unscaledCoM.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a>*unscaledCoM.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a>+unscaledCoM.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>*unscaledCoM.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>)); +<a name="l00132"></a>00132 unscaledInertiaTensorCOM[0][1] = unscaledInertiaTensorCOM[1][0] = (unscaledInertiaTensorNonCOM[0][1] + unscaledMass*<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>(unscaledCoM.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a>*unscaledCoM.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>)); +<a name="l00133"></a>00133 unscaledInertiaTensorCOM[1][2] = unscaledInertiaTensorCOM[2][1] = (unscaledInertiaTensorNonCOM[1][2] + unscaledMass*<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>(unscaledCoM.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>*unscaledCoM.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>)); +<a name="l00134"></a>00134 unscaledInertiaTensorCOM[0][2] = unscaledInertiaTensorCOM[2][0] = (unscaledInertiaTensorNonCOM[0][2] + unscaledMass*<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>(unscaledCoM.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>*unscaledCoM.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a>)); +<a name="l00135"></a>00135 +<a name="l00136"></a>00136 <span class="keyword">const</span> <a class="code" href="classPxMeshScale.html" title="A class expressing a nonuniform scaling transformation.">PxMeshScale</a>& s = c.<a class="code" href="classPxConvexMeshGeometry.html#777f625bb1fd49fabf03eb4be02ed581" title="The scaling transformation (from vertex space to shape space).">scale</a>; +<a name="l00137"></a>00137 mass = unscaledMass * s.<a class="code" href="classPxMeshScale.html#12f2dbcf5214c4c5956dab0e75831449" title="A nonuniform scaling.">scale</a>.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> * s.<a class="code" href="classPxMeshScale.html#12f2dbcf5214c4c5956dab0e75831449" title="A nonuniform scaling.">scale</a>.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a> * s.<a class="code" href="classPxMeshScale.html#12f2dbcf5214c4c5956dab0e75831449" title="A nonuniform scaling.">scale</a>.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>; +<a name="l00138"></a>00138 centerOfMass = s.<a class="code" href="classPxMeshScale.html#63902c04c9a3f326b5f969fa931e53fd" title="The orientation of the scaling axes.">rotation</a>.<a class="code" href="classPxQuat.html#b5ffbf8b2b7bd871e6ac0b854fd5730e">rotate</a>(s.<a class="code" href="classPxMeshScale.html#12f2dbcf5214c4c5956dab0e75831449" title="A nonuniform scaling.">scale</a>.<a class="code" href="classPxVec3.html#9cc40866bdd9940ef8a3cc8d2a75a593" title="a[i] * b[i], for all i.">multiply</a>(s.<a class="code" href="classPxMeshScale.html#63902c04c9a3f326b5f969fa931e53fd" title="The orientation of the scaling axes.">rotation</a>.<a class="code" href="classPxQuat.html#6ce4a234b750b076459632e60579cf78">rotateInv</a>(unscaledCoM))); +<a name="l00139"></a>00139 inertiaTensor = scaleInertia(unscaledInertiaTensorCOM, s.<a class="code" href="classPxMeshScale.html#63902c04c9a3f326b5f969fa931e53fd" title="The orientation of the scaling axes.">rotation</a>, s.<a class="code" href="classPxMeshScale.html#12f2dbcf5214c4c5956dab0e75831449" title="A nonuniform scaling.">scale</a>); +<a name="l00140"></a>00140 } +<a name="l00141"></a>00141 <span class="keywordflow">break</span>; +<a name="l00142"></a>00142 +<a name="l00143"></a>00143 <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#efc79f72c4c479192ac19d41a6f30ed577b1d68c4f5a18bc259a623e1497a880">PxGeometryType::eHEIGHTFIELD</a>: +<a name="l00144"></a>00144 <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#efc79f72c4c479192ac19d41a6f30ed531e6fe000bdf2ba4c3bd2527351247fc">PxGeometryType::ePLANE</a>: +<a name="l00145"></a>00145 <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#efc79f72c4c479192ac19d41a6f30ed56b3210a7dca3bddcc8755338987725eb">PxGeometryType::eTRIANGLEMESH</a>: +<a name="l00146"></a>00146 <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#efc79f72c4c479192ac19d41a6f30ed573f7721d7db869464f4038638466d5ac" title="internal use only!">PxGeometryType::eINVALID</a>: +<a name="l00147"></a>00147 <span class="keywordflow">case</span> <a class="code" href="structPxGeometryType.html#efc79f72c4c479192ac19d41a6f30ed5fa28e3dbd2e28f7c0948c35723f42105" title="internal use only!">PxGeometryType::eGEOMETRY_COUNT</a>: +<a name="l00148"></a>00148 { +<a name="l00149"></a>00149 *<span class="keyword">this</span> = <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a>(); +<a name="l00150"></a>00150 } +<a name="l00151"></a>00151 <span class="keywordflow">break</span>; +<a name="l00152"></a>00152 } +<a name="l00153"></a>00153 +<a name="l00154"></a>00154 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertiaTensor.column0.isFinite() && inertiaTensor.column1.isFinite() && inertiaTensor.column2.isFinite()); +<a name="l00155"></a>00155 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(centerOfMass.isFinite()); +<a name="l00156"></a>00156 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gd6de0f4af98c5c5280b8fe695dc87318" title="returns true if the passed number is a finite floating point number as opposed to...">PxIsFinite</a>(mass)); +<a name="l00157"></a>00157 } +<a name="l00158"></a>00158 +<a name="l00165"></a><a class="code" href="classPxMassProperties.html#17203e50d0713712a2784a2ad51ed198">00165</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a> <a class="code" href="group__foundation.html#ga7415102b45174d3eda4d4f2f12127bc">operator*</a>(<span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> scale)<span class="keyword"> const</span> +<a name="l00166"></a>00166 <span class="keyword"> </span>{ +<a name="l00167"></a>00167 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gd6de0f4af98c5c5280b8fe695dc87318" title="returns true if the passed number is a finite floating point number as opposed to...">PxIsFinite</a>(scale)); +<a name="l00168"></a>00168 +<a name="l00169"></a>00169 <span class="keywordflow">return</span> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a>(mass * scale, inertiaTensor * scale, centerOfMass); +<a name="l00170"></a>00170 } <a name="l00171"></a>00171 -<a name="l00172"></a>00172 inertiaTensor = translateInertia(inertiaTensor, mass, t); -<a name="l00173"></a>00173 centerOfMass += t; -<a name="l00174"></a>00174 -<a name="l00175"></a>00175 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertiaTensor.column0.isFinite() && inertiaTensor.column1.isFinite() && inertiaTensor.column2.isFinite()); -<a name="l00176"></a>00176 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(centerOfMass.isFinite()); -<a name="l00177"></a>00177 } -<a name="l00178"></a>00178 -<a name="l00186"></a><a class="code" href="classPxMassProperties.html#53afd0d4b906ee9d96b23ea0bb41287b">00186</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">static</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> getMassSpaceInertia(<span class="keyword">const</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a>& inertia, <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a>& massFrame) -<a name="l00187"></a>00187 { -<a name="l00188"></a>00188 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertia.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00189"></a>00189 -<a name="l00190"></a>00190 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> diagT = <a class="code" href="group__common.html#gde7a77d4ae9d14e363364a9d72cf4932">PxDiagonalize</a>(inertia, massFrame); -<a name="l00191"></a>00191 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(diagT.isFinite()); -<a name="l00192"></a>00192 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(massFrame.<a class="code" href="classPxQuat.html#a435b2284fdc3d4ad85bec6074f2bad4" title="returns true if all elements are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00193"></a>00193 <span class="keywordflow">return</span> diagT; -<a name="l00194"></a>00194 } -<a name="l00195"></a>00195 -<a name="l00204"></a><a class="code" href="classPxMassProperties.html#cf94746d2a0e2e989bad06d97c6c387b">00204</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">static</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> translateInertia(<span class="keyword">const</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a>& inertia, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> mass, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& t) -<a name="l00205"></a>00205 { -<a name="l00206"></a>00206 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertia.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00207"></a>00207 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gd6de0f4af98c5c5280b8fe695dc87318" title="returns true if the passed number is a finite floating point number as opposed to...">PxIsFinite</a>(mass)); -<a name="l00208"></a>00208 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(t.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00209"></a>00209 -<a name="l00210"></a>00210 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> s( <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(0,t.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>,-t.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>), -<a name="l00211"></a>00211 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(-t.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>,0,t.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a>), -<a name="l00212"></a>00212 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(t.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>,-t.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a>,0) ); -<a name="l00213"></a>00213 -<a name="l00214"></a>00214 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> translatedIT = s.getTranspose() * s * mass + inertia; -<a name="l00215"></a>00215 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(translatedIT.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && translatedIT.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && translatedIT.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00216"></a>00216 <span class="keywordflow">return</span> translatedIT; -<a name="l00217"></a>00217 } +<a name="l00177"></a><a class="code" href="classPxMassProperties.html#6b65afdb22147ade5f1ca7f77e591924">00177</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> translate(<span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& t) +<a name="l00178"></a>00178 { +<a name="l00179"></a>00179 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(t.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00180"></a>00180 +<a name="l00181"></a>00181 inertiaTensor = translateInertia(inertiaTensor, mass, t); +<a name="l00182"></a>00182 centerOfMass += t; +<a name="l00183"></a>00183 +<a name="l00184"></a>00184 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertiaTensor.column0.isFinite() && inertiaTensor.column1.isFinite() && inertiaTensor.column2.isFinite()); +<a name="l00185"></a>00185 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(centerOfMass.isFinite()); +<a name="l00186"></a>00186 } +<a name="l00187"></a>00187 +<a name="l00195"></a><a class="code" href="classPxMassProperties.html#53afd0d4b906ee9d96b23ea0bb41287b">00195</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">static</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> getMassSpaceInertia(<span class="keyword">const</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a>& inertia, <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a>& massFrame) +<a name="l00196"></a>00196 { +<a name="l00197"></a>00197 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertia.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00198"></a>00198 +<a name="l00199"></a>00199 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> diagT = <a class="code" href="group__common.html#gde7a77d4ae9d14e363364a9d72cf4932">PxDiagonalize</a>(inertia, massFrame); +<a name="l00200"></a>00200 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(diagT.isFinite()); +<a name="l00201"></a>00201 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(massFrame.<a class="code" href="classPxQuat.html#a435b2284fdc3d4ad85bec6074f2bad4" title="returns true if all elements are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00202"></a>00202 <span class="keywordflow">return</span> diagT; +<a name="l00203"></a>00203 } +<a name="l00204"></a>00204 +<a name="l00213"></a><a class="code" href="classPxMassProperties.html#cf94746d2a0e2e989bad06d97c6c387b">00213</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">static</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> translateInertia(<span class="keyword">const</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a>& inertia, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> mass, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& t) +<a name="l00214"></a>00214 { +<a name="l00215"></a>00215 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertia.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00216"></a>00216 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gd6de0f4af98c5c5280b8fe695dc87318" title="returns true if the passed number is a finite floating point number as opposed to...">PxIsFinite</a>(mass)); +<a name="l00217"></a>00217 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(t.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); <a name="l00218"></a>00218 -<a name="l00226"></a><a class="code" href="classPxMassProperties.html#4d63a246cd8a59f8709126a4b4528fb6">00226</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">static</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> rotateInertia(<span class="keyword">const</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a>& inertia, <span class="keyword">const</span> <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a>& q) -<a name="l00227"></a>00227 { -<a name="l00228"></a>00228 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertia.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00229"></a>00229 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(q.<a class="code" href="classPxQuat.html#3890ca4efba038ab0fc84bb39c5267db" title="returns true if finite and magnitude is close to unit">isUnit</a>()); -<a name="l00230"></a>00230 -<a name="l00231"></a>00231 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> m(q); -<a name="l00232"></a>00232 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> rotatedIT = m * inertia * m.<a class="code" href="classPxMat33.html#4ac2e5e46952e91a18126a5de02d2697" title="Get transposed matrix.">getTranspose</a>(); -<a name="l00233"></a>00233 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(rotatedIT.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && rotatedIT.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && rotatedIT.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00234"></a>00234 <span class="keywordflow">return</span> rotatedIT; -<a name="l00235"></a>00235 } -<a name="l00236"></a>00236 -<a name="l00245"></a><a class="code" href="classPxMassProperties.html#4ba3bf338320c9f0bf558b5d3a9046bd">00245</a> <span class="keyword">static</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> scaleInertia(<span class="keyword">const</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a>& inertia, <span class="keyword">const</span> <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a>& scaleRotation, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& scale) -<a name="l00246"></a>00246 { -<a name="l00247"></a>00247 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertia.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00248"></a>00248 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(scaleRotation.<a class="code" href="classPxQuat.html#3890ca4efba038ab0fc84bb39c5267db" title="returns true if finite and magnitude is close to unit">isUnit</a>()); -<a name="l00249"></a>00249 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(scale.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00250"></a>00250 -<a name="l00251"></a>00251 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> localInertiaT = rotateInertia(inertia, scaleRotation); <span class="comment">// rotate inertia into scaling frame</span> -<a name="l00252"></a>00252 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> diagonal(localInertiaT[0][0], localInertiaT[1][1], localInertiaT[2][2]); -<a name="l00253"></a>00253 -<a name="l00254"></a>00254 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> xyz2 = <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(diagonal.<a class="code" href="classPxVec3.html#f29c27e8aae481d97570e7990388bdf5" title="returns the scalar product of this and other.">dot</a>(<a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(0.5f))) - diagonal; <span class="comment">// original x^2, y^2, z^2</span> -<a name="l00255"></a>00255 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> scaledxyz2 = xyz2.<a class="code" href="classPxVec3.html#9cc40866bdd9940ef8a3cc8d2a75a593" title="a[i] * b[i], for all i.">multiply</a>(scale).<a class="code" href="classPxVec3.html#9cc40866bdd9940ef8a3cc8d2a75a593" title="a[i] * b[i], for all i.">multiply</a>(scale); -<a name="l00256"></a>00256 -<a name="l00257"></a>00257 <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> xx = scaledxyz2.y + scaledxyz2.z, -<a name="l00258"></a>00258 yy = scaledxyz2.z + scaledxyz2.x, -<a name="l00259"></a>00259 zz = scaledxyz2.x + scaledxyz2.y; -<a name="l00260"></a>00260 -<a name="l00261"></a>00261 <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> xy = localInertiaT[0][1] * scale.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> * scale.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>, -<a name="l00262"></a>00262 xz = localInertiaT[0][2] * scale.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> * scale.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>, -<a name="l00263"></a>00263 yz = localInertiaT[1][2] * scale.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a> * scale.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>; -<a name="l00264"></a>00264 -<a name="l00265"></a>00265 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> scaledInertia( <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(xx, xy, xz), -<a name="l00266"></a>00266 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(xy, yy, yz), -<a name="l00267"></a>00267 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(xz, yz, zz)); -<a name="l00268"></a>00268 -<a name="l00269"></a>00269 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> scaledIT = rotateInertia(scaledInertia * (scale.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> * scale.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a> * scale.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>), scaleRotation.<a class="code" href="classPxQuat.html#a4418a046f8851753a23a375515b0614">getConjugate</a>()); -<a name="l00270"></a>00270 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(scaledIT.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && scaledIT.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && scaledIT.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00271"></a>00271 <span class="keywordflow">return</span> scaledIT; -<a name="l00272"></a>00272 } +<a name="l00219"></a>00219 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> s( <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(0,t.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>,-t.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>), +<a name="l00220"></a>00220 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(-t.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>,0,t.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a>), +<a name="l00221"></a>00221 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(t.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>,-t.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a>,0) ); +<a name="l00222"></a>00222 +<a name="l00223"></a>00223 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> translatedIT = s.getTranspose() * s * mass + inertia; +<a name="l00224"></a>00224 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(translatedIT.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && translatedIT.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && translatedIT.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00225"></a>00225 <span class="keywordflow">return</span> translatedIT; +<a name="l00226"></a>00226 } +<a name="l00227"></a>00227 +<a name="l00235"></a><a class="code" href="classPxMassProperties.html#4d63a246cd8a59f8709126a4b4528fb6">00235</a> <a class="code" href="group__foundation.html#g6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keyword">static</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> rotateInertia(<span class="keyword">const</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a>& inertia, <span class="keyword">const</span> <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a>& q) +<a name="l00236"></a>00236 { +<a name="l00237"></a>00237 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertia.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00238"></a>00238 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(q.<a class="code" href="classPxQuat.html#3890ca4efba038ab0fc84bb39c5267db" title="returns true if finite and magnitude is close to unit">isUnit</a>()); +<a name="l00239"></a>00239 +<a name="l00240"></a>00240 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> m(q); +<a name="l00241"></a>00241 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> rotatedIT = m * inertia * m.<a class="code" href="classPxMat33.html#4ac2e5e46952e91a18126a5de02d2697" title="Get transposed matrix.">getTranspose</a>(); +<a name="l00242"></a>00242 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(rotatedIT.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && rotatedIT.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && rotatedIT.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00243"></a>00243 <span class="keywordflow">return</span> rotatedIT; +<a name="l00244"></a>00244 } +<a name="l00245"></a>00245 +<a name="l00254"></a><a class="code" href="classPxMassProperties.html#4ba3bf338320c9f0bf558b5d3a9046bd">00254</a> <span class="keyword">static</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> scaleInertia(<span class="keyword">const</span> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a>& inertia, <span class="keyword">const</span> <a class="code" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult...">PxQuat</a>& scaleRotation, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& scale) +<a name="l00255"></a>00255 { +<a name="l00256"></a>00256 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(inertia.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && inertia.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00257"></a>00257 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(scaleRotation.<a class="code" href="classPxQuat.html#3890ca4efba038ab0fc84bb39c5267db" title="returns true if finite and magnitude is close to unit">isUnit</a>()); +<a name="l00258"></a>00258 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(scale.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00259"></a>00259 +<a name="l00260"></a>00260 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> localInertiaT = rotateInertia(inertia, scaleRotation); <span class="comment">// rotate inertia into scaling frame</span> +<a name="l00261"></a>00261 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> diagonal(localInertiaT[0][0], localInertiaT[1][1], localInertiaT[2][2]); +<a name="l00262"></a>00262 +<a name="l00263"></a>00263 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> xyz2 = <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(diagonal.<a class="code" href="classPxVec3.html#f29c27e8aae481d97570e7990388bdf5" title="returns the scalar product of this and other.">dot</a>(<a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(0.5f))) - diagonal; <span class="comment">// original x^2, y^2, z^2</span> +<a name="l00264"></a>00264 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> scaledxyz2 = xyz2.<a class="code" href="classPxVec3.html#9cc40866bdd9940ef8a3cc8d2a75a593" title="a[i] * b[i], for all i.">multiply</a>(scale).<a class="code" href="classPxVec3.html#9cc40866bdd9940ef8a3cc8d2a75a593" title="a[i] * b[i], for all i.">multiply</a>(scale); +<a name="l00265"></a>00265 +<a name="l00266"></a>00266 <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> xx = scaledxyz2.y + scaledxyz2.z, +<a name="l00267"></a>00267 yy = scaledxyz2.z + scaledxyz2.x, +<a name="l00268"></a>00268 zz = scaledxyz2.x + scaledxyz2.y; +<a name="l00269"></a>00269 +<a name="l00270"></a>00270 <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> xy = localInertiaT[0][1] * scale.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> * scale.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a>, +<a name="l00271"></a>00271 xz = localInertiaT[0][2] * scale.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> * scale.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>, +<a name="l00272"></a>00272 yz = localInertiaT[1][2] * scale.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a> * scale.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>; <a name="l00273"></a>00273 -<a name="l00282"></a><a class="code" href="classPxMassProperties.html#63e7875cb60efa35150002e56fcfa43f">00282</a> <span class="keyword">static</span> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a> sum(<span class="keyword">const</span> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a>* props, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>* transforms, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> count) -<a name="l00283"></a>00283 { -<a name="l00284"></a>00284 <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> combinedMass = 0.0f; -<a name="l00285"></a>00285 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> combinedCoM(0.0f); -<a name="l00286"></a>00286 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> combinedInertiaT = <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a>(<a class="code" href="group__foundation.html#ggc10bd69c94c165a52f6de39678ef9d4c0ea259a79d3556f2986a96b5fbf8d4bc">PxZero</a>); -<a name="l00287"></a>00287 -<a name="l00288"></a>00288 <span class="keywordflow">for</span>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i = 0; i < count; i++) -<a name="l00289"></a>00289 { -<a name="l00290"></a>00290 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(props[i].inertiaTensor.column0.isFinite() && props[i].<a class="code" href="classPxMassProperties.html#eefe4de17f788dacbf9c48fd5ec857ac" title="The inertia tensor of the object.">inertiaTensor</a>.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && props[i].<a class="code" href="classPxMassProperties.html#eefe4de17f788dacbf9c48fd5ec857ac" title="The inertia tensor of the object.">inertiaTensor</a>.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00291"></a>00291 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(props[i].centerOfMass.isFinite()); -<a name="l00292"></a>00292 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gd6de0f4af98c5c5280b8fe695dc87318" title="returns true if the passed number is a finite floating point number as opposed to...">PxIsFinite</a>(props[i].mass)); -<a name="l00293"></a>00293 -<a name="l00294"></a>00294 combinedMass += props[i].<a class="code" href="classPxMassProperties.html#978392fb04bb472602f9fc1315d5f116" title="The mass of the object.">mass</a>; -<a name="l00295"></a>00295 <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> comTm = transforms[i].<a class="code" href="classPxTransform.html#ee2fa4f5d0f6a1bad831fe0c81094ebd">transform</a>(props[i].centerOfMass); -<a name="l00296"></a>00296 combinedCoM += comTm * props[i].<a class="code" href="classPxMassProperties.html#978392fb04bb472602f9fc1315d5f116" title="The mass of the object.">mass</a>; -<a name="l00297"></a>00297 } -<a name="l00298"></a>00298 -<a name="l00299"></a>00299 combinedCoM /= combinedMass; -<a name="l00300"></a>00300 -<a name="l00301"></a>00301 <span class="keywordflow">for</span>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i = 0; i < count; i++) -<a name="l00302"></a>00302 { -<a name="l00303"></a>00303 <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> comTm = transforms[i].<a class="code" href="classPxTransform.html#ee2fa4f5d0f6a1bad831fe0c81094ebd">transform</a>(props[i].centerOfMass); -<a name="l00304"></a>00304 combinedInertiaT += translateInertia(rotateInertia(props[i].inertiaTensor, transforms[i].q), props[i].mass, combinedCoM - comTm); -<a name="l00305"></a>00305 } -<a name="l00306"></a>00306 -<a name="l00307"></a>00307 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(combinedInertiaT.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && combinedInertiaT.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && combinedInertiaT.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00308"></a>00308 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(combinedCoM.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); -<a name="l00309"></a>00309 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gd6de0f4af98c5c5280b8fe695dc87318" title="returns true if the passed number is a finite floating point number as opposed to...">PxIsFinite</a>(combinedMass)); -<a name="l00310"></a>00310 -<a name="l00311"></a>00311 <span class="keywordflow">return</span> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a>(combinedMass, combinedInertiaT, combinedCoM); -<a name="l00312"></a>00312 } -<a name="l00313"></a>00313 -<a name="l00314"></a>00314 -<a name="l00315"></a><a class="code" href="classPxMassProperties.html#eefe4de17f788dacbf9c48fd5ec857ac">00315</a> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> inertiaTensor; -<a name="l00316"></a><a class="code" href="classPxMassProperties.html#8f4e5b19248941b3ee2369afadb20e96">00316</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> centerOfMass; -<a name="l00317"></a><a class="code" href="classPxMassProperties.html#978392fb04bb472602f9fc1315d5f116">00317</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> mass; -<a name="l00318"></a>00318 }; +<a name="l00274"></a>00274 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> scaledInertia( <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(xx, xy, xz), +<a name="l00275"></a>00275 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(xy, yy, yz), +<a name="l00276"></a>00276 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>(xz, yz, zz)); +<a name="l00277"></a>00277 +<a name="l00278"></a>00278 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> scaledIT = rotateInertia(scaledInertia * (scale.<a class="code" href="classPxVec3.html#391194bca8291161c06254f4ac2b6ada">x</a> * scale.<a class="code" href="classPxVec3.html#29958700f50da2204edc519b47706a05">y</a> * scale.<a class="code" href="classPxVec3.html#50d67b162b99b904c3f362ad0415dbca">z</a>), scaleRotation.<a class="code" href="classPxQuat.html#a4418a046f8851753a23a375515b0614">getConjugate</a>()); +<a name="l00279"></a>00279 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(scaledIT.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && scaledIT.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && scaledIT.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00280"></a>00280 <span class="keywordflow">return</span> scaledIT; +<a name="l00281"></a>00281 } +<a name="l00282"></a>00282 +<a name="l00291"></a><a class="code" href="classPxMassProperties.html#63e7875cb60efa35150002e56fcfa43f">00291</a> <span class="keyword">static</span> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a> sum(<span class="keyword">const</span> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a>* props, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>* transforms, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> count) +<a name="l00292"></a>00292 { +<a name="l00293"></a>00293 <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> combinedMass = 0.0f; +<a name="l00294"></a>00294 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> combinedCoM(0.0f); +<a name="l00295"></a>00295 <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> combinedInertiaT = <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a>(<a class="code" href="group__foundation.html#ggc10bd69c94c165a52f6de39678ef9d4c0ea259a79d3556f2986a96b5fbf8d4bc">PxZero</a>); +<a name="l00296"></a>00296 +<a name="l00297"></a>00297 <span class="keywordflow">for</span>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i = 0; i < count; i++) +<a name="l00298"></a>00298 { +<a name="l00299"></a>00299 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(props[i].inertiaTensor.column0.isFinite() && props[i].<a class="code" href="classPxMassProperties.html#eefe4de17f788dacbf9c48fd5ec857ac" title="The inertia tensor of the object.">inertiaTensor</a>.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && props[i].<a class="code" href="classPxMassProperties.html#eefe4de17f788dacbf9c48fd5ec857ac" title="The inertia tensor of the object.">inertiaTensor</a>.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00300"></a>00300 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(props[i].centerOfMass.isFinite()); +<a name="l00301"></a>00301 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gd6de0f4af98c5c5280b8fe695dc87318" title="returns true if the passed number is a finite floating point number as opposed to...">PxIsFinite</a>(props[i].mass)); +<a name="l00302"></a>00302 +<a name="l00303"></a>00303 combinedMass += props[i].<a class="code" href="classPxMassProperties.html#978392fb04bb472602f9fc1315d5f116" title="The mass of the object.">mass</a>; +<a name="l00304"></a>00304 <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> comTm = transforms[i].<a class="code" href="classPxTransform.html#ee2fa4f5d0f6a1bad831fe0c81094ebd">transform</a>(props[i].centerOfMass); +<a name="l00305"></a>00305 combinedCoM += comTm * props[i].<a class="code" href="classPxMassProperties.html#978392fb04bb472602f9fc1315d5f116" title="The mass of the object.">mass</a>; +<a name="l00306"></a>00306 } +<a name="l00307"></a>00307 +<a name="l00308"></a>00308 combinedCoM /= combinedMass; +<a name="l00309"></a>00309 +<a name="l00310"></a>00310 <span class="keywordflow">for</span>(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> i = 0; i < count; i++) +<a name="l00311"></a>00311 { +<a name="l00312"></a>00312 <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> comTm = transforms[i].<a class="code" href="classPxTransform.html#ee2fa4f5d0f6a1bad831fe0c81094ebd">transform</a>(props[i].centerOfMass); +<a name="l00313"></a>00313 combinedInertiaT += translateInertia(rotateInertia(props[i].inertiaTensor, transforms[i].q), props[i].mass, combinedCoM - comTm); +<a name="l00314"></a>00314 } +<a name="l00315"></a>00315 +<a name="l00316"></a>00316 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(combinedInertiaT.<a class="code" href="classPxMat33.html#89d12d4e50ffc5ef8e480bdd3dadb78a">column0</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && combinedInertiaT.<a class="code" href="classPxMat33.html#62f190479e12e7b9ec5cf831b23c95e9">column1</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>() && combinedInertiaT.<a class="code" href="classPxMat33.html#9af2a3d4f9cca979c3e46a6406de6957">column2</a>.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00317"></a>00317 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(combinedCoM.<a class="code" href="classPxVec3.html#65b6f42ac7654a7d79590a2f1d00e160" title="returns true if all 3 elems of the vector are finite (not NAN or INF, etc.)">isFinite</a>()); +<a name="l00318"></a>00318 <a class="code" href="group__foundation.html#g4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gd6de0f4af98c5c5280b8fe695dc87318" title="returns true if the passed number is a finite floating point number as opposed to...">PxIsFinite</a>(combinedMass)); <a name="l00319"></a>00319 -<a name="l00320"></a>00320 <span class="preprocessor">#if !PX_DOXYGEN</span> -<a name="l00321"></a>00321 <span class="preprocessor"></span>} <span class="comment">// namespace physx</span> -<a name="l00322"></a>00322 <span class="preprocessor">#endif</span> -<a name="l00323"></a>00323 <span class="preprocessor"></span> -<a name="l00325"></a>00325 <span class="preprocessor">#endif</span> +<a name="l00320"></a>00320 <span class="keywordflow">return</span> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a>(combinedMass, combinedInertiaT, combinedCoM); +<a name="l00321"></a>00321 } +<a name="l00322"></a>00322 +<a name="l00323"></a>00323 +<a name="l00324"></a><a class="code" href="classPxMassProperties.html#eefe4de17f788dacbf9c48fd5ec857ac">00324</a> <a class="code" href="classPxMat33.html" title="3x3 matrix class">PxMat33</a> inertiaTensor; +<a name="l00325"></a><a class="code" href="classPxMassProperties.html#8f4e5b19248941b3ee2369afadb20e96">00325</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> centerOfMass; +<a name="l00326"></a><a class="code" href="classPxMassProperties.html#978392fb04bb472602f9fc1315d5f116">00326</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> mass; +<a name="l00327"></a>00327 }; +<a name="l00328"></a>00328 +<a name="l00329"></a>00329 <span class="preprocessor">#if !PX_DOXYGEN</span> +<a name="l00330"></a>00330 <span class="preprocessor"></span>} <span class="comment">// namespace physx</span> +<a name="l00331"></a>00331 <span class="preprocessor">#endif</span> +<a name="l00332"></a>00332 <span class="preprocessor"></span> +<a name="l00334"></a>00334 <span class="preprocessor">#endif</span> </pre></div></div> <hr style="width: 100%; height: 2px;"><br> |