Add PhysicsEffects to Extras. The build is only tested on Windows and Android.

The Android/NEON optimized version of Physics Effects is thanks to Graham Rhodes and Anthony Hamilton, See Issue 587

Extras/PhysicsEffects/src/util/pfx_mass.cpp

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+/*
+Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
+All rights reserved.
+
+Physics Effects is open software; you can redistribute it and/or
+modify it under the terms of the BSD License.
+
+Physics Effects is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the BSD License for more details.
+
+A copy of the BSD License is distributed with
+Physics Effects under the filename: physics_effects_license.txt
+*/
+
+#include "../../include/physics_effects/util/pfx_mass.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+///////////////////////////////////////////////////////////////////////////////
+// Box
+
+PfxFloat pfxCalcMassBox(PfxFloat density,const PfxVector3 &halfExtent)
+{
+	return density * halfExtent[0] * halfExtent[1] * halfExtent[2] * 8;
+}
+
+PfxMatrix3 pfxCalcInertiaBox(const PfxVector3 &halfExtent,PfxFloat mass)
+{
+	PfxVector3 sqrSz = halfExtent * 2.0f;
+	sqrSz = mulPerElem(sqrSz,sqrSz);
+	PfxMatrix3 inertia = PfxMatrix3::identity();
+	inertia[0][0] = (mass*(sqrSz[1]+sqrSz[2]))/12.0f;
+	inertia[1][1] = (mass*(sqrSz[0]+sqrSz[2]))/12.0f;
+	inertia[2][2] = (mass*(sqrSz[0]+sqrSz[1]))/12.0f;
+	return inertia;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+// Sphere
+
+PfxFloat pfxCalcMassSphere(PfxFloat density,PfxFloat radius)
+{
+	return (4.0f/3.0f) * SCE_PFX_PI * radius * radius * radius * density;
+}
+
+PfxMatrix3 pfxCalcInertiaSphere(PfxFloat radius,PfxFloat mass)
+{
+	PfxMatrix3 inertia = PfxMatrix3::identity();
+	inertia[0][0] = inertia[1][1] = inertia[2][2] = 0.4f * mass * radius * radius;
+	return inertia;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+// Cylinder
+
+PfxFloat pfxCalcMassCylinder(PfxFloat density,PfxFloat halfLength,PfxFloat radius)
+{
+	return SCE_PFX_PI * radius * radius * 2.0f * halfLength * density;
+}
+
+static inline
+PfxMatrix3 pfxCalcInertiaCylinder(PfxFloat halfLength,PfxFloat radius,PfxFloat mass,int axis)
+{
+	PfxMatrix3 inertia = PfxMatrix3::identity();
+	inertia[0][0] = inertia[1][1] = inertia[2][2] = 0.25f * mass * radius * radius + 0.33f * mass * halfLength * halfLength; 
+	inertia[axis][axis] = 0.5f * mass * radius * radius;
+	return inertia;
+}
+
+PfxMatrix3 pfxCalcInertiaCylinderX(PfxFloat halfLength,PfxFloat radius,PfxFloat mass)
+{
+	return pfxCalcInertiaCylinder(radius,halfLength,mass,0);
+}
+
+PfxMatrix3 pfxCalcInertiaCylinderY(PfxFloat halfLength,PfxFloat radius,PfxFloat mass)
+{
+	return pfxCalcInertiaCylinder(radius,halfLength,mass,1);
+}
+
+PfxMatrix3 pfxCalcInertiaCylinderZ(PfxFloat halfLength,PfxFloat radius,PfxFloat mass)
+{
+	return pfxCalcInertiaCylinder(radius,halfLength,mass,2);
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+PfxMatrix3 pfxMassTranslate(PfxFloat mass,const PfxMatrix3 &inertia,const PfxVector3 &translation)
+{
+	PfxMatrix3 m = crossMatrix(translation);
+	return inertia + mass * (-m*m);
+}
+
+PfxMatrix3 pfxMassRotate(const PfxMatrix3 &inertia,const PfxMatrix3 &rotate)
+{
+	return rotate * inertia * transpose(rotate);
+}
+
+} //namespace PhysicsEffects
+} //namespace sce