a93a661b94
The Android/NEON optimized version of Physics Effects is thanks to Graham Rhodes and Anthony Hamilton, See Issue 587
103 lines
3.2 KiB
C++
103 lines
3.2 KiB
C++
/*
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Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
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All rights reserved.
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Physics Effects is open software; you can redistribute it and/or
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modify it under the terms of the BSD License.
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Physics Effects is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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See the BSD License for more details.
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A copy of the BSD License is distributed with
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Physics Effects under the filename: physics_effects_license.txt
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*/
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#include "../../include/physics_effects/util/pfx_mass.h"
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namespace sce {
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namespace PhysicsEffects {
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///////////////////////////////////////////////////////////////////////////////
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// Box
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PfxFloat pfxCalcMassBox(PfxFloat density,const PfxVector3 &halfExtent)
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{
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return density * halfExtent[0] * halfExtent[1] * halfExtent[2] * 8;
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}
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PfxMatrix3 pfxCalcInertiaBox(const PfxVector3 &halfExtent,PfxFloat mass)
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{
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PfxVector3 sqrSz = halfExtent * 2.0f;
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sqrSz = mulPerElem(sqrSz,sqrSz);
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PfxMatrix3 inertia = PfxMatrix3::identity();
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inertia[0][0] = (mass*(sqrSz[1]+sqrSz[2]))/12.0f;
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inertia[1][1] = (mass*(sqrSz[0]+sqrSz[2]))/12.0f;
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inertia[2][2] = (mass*(sqrSz[0]+sqrSz[1]))/12.0f;
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return inertia;
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}
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///////////////////////////////////////////////////////////////////////////////
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// Sphere
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PfxFloat pfxCalcMassSphere(PfxFloat density,PfxFloat radius)
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{
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return (4.0f/3.0f) * SCE_PFX_PI * radius * radius * radius * density;
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}
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PfxMatrix3 pfxCalcInertiaSphere(PfxFloat radius,PfxFloat mass)
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{
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PfxMatrix3 inertia = PfxMatrix3::identity();
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inertia[0][0] = inertia[1][1] = inertia[2][2] = 0.4f * mass * radius * radius;
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return inertia;
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}
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///////////////////////////////////////////////////////////////////////////////
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// Cylinder
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PfxFloat pfxCalcMassCylinder(PfxFloat density,PfxFloat halfLength,PfxFloat radius)
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{
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return SCE_PFX_PI * radius * radius * 2.0f * halfLength * density;
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}
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static inline
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PfxMatrix3 pfxCalcInertiaCylinder(PfxFloat halfLength,PfxFloat radius,PfxFloat mass,int axis)
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{
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PfxMatrix3 inertia = PfxMatrix3::identity();
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inertia[0][0] = inertia[1][1] = inertia[2][2] = 0.25f * mass * radius * radius + 0.33f * mass * halfLength * halfLength;
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inertia[axis][axis] = 0.5f * mass * radius * radius;
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return inertia;
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}
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PfxMatrix3 pfxCalcInertiaCylinderX(PfxFloat halfLength,PfxFloat radius,PfxFloat mass)
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{
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return pfxCalcInertiaCylinder(radius,halfLength,mass,0);
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}
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PfxMatrix3 pfxCalcInertiaCylinderY(PfxFloat halfLength,PfxFloat radius,PfxFloat mass)
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{
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return pfxCalcInertiaCylinder(radius,halfLength,mass,1);
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}
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PfxMatrix3 pfxCalcInertiaCylinderZ(PfxFloat halfLength,PfxFloat radius,PfxFloat mass)
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{
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return pfxCalcInertiaCylinder(radius,halfLength,mass,2);
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}
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///////////////////////////////////////////////////////////////////////////////
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PfxMatrix3 pfxMassTranslate(PfxFloat mass,const PfxMatrix3 &inertia,const PfxVector3 &translation)
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{
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PfxMatrix3 m = crossMatrix(translation);
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return inertia + mass * (-m*m);
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}
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PfxMatrix3 pfxMassRotate(const PfxMatrix3 &inertia,const PfxMatrix3 &rotate)
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{
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return rotate * inertia * transpose(rotate);
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}
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} //namespace PhysicsEffects
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} //namespace sce
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