void Body2DSW::update_inertias() {
//update shapes and motions
switch(mode) {
case Physics2DServer::BODY_MODE_RIGID: {
//update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet)
float total_area=0;
for (int i=0;i<get_shape_count();i++) {
total_area+=get_shape_aabb(i).get_area();
}
real_t _inertia=0;
for (int i=0;i<get_shape_count();i++) {
const Shape2DSW* shape=get_shape(i);
float area=get_shape_aabb(i).get_area();
float mass = area * this->mass / total_area;
Matrix32 mtx = get_shape_transform(i);
Vector2 scale = mtx.get_scale();
_inertia += shape->get_moment_of_inertia(mass,scale) + mass * mtx.get_origin().length_squared();
//Rect2 ab = get_shape_aabb(i);
//_inertia+=mass*ab.size.dot(ab.size)/12.0f;
}
if (_inertia!=0)
_inv_inertia=1.0/_inertia;
else
_inv_inertia=0.0; //wathever
if (mass)
_inv_mass=1.0/mass;
else
_inv_mass=0;
} break;
case Physics2DServer::BODY_MODE_KINEMATIC:
case Physics2DServer::BODY_MODE_STATIC: {
_inv_inertia=0;
_inv_mass=0;
} break;
case Physics2DServer::BODY_MODE_CHARACTER: {
_inv_inertia=0;
_inv_mass=1.0/mass;
} break;
}
//_update_inertia_tensor();
//_update_shapes();
}
void BodySW::update_inertias() {
//update shapes and motions
switch(mode) {
case PhysicsServer::BODY_MODE_RIGID: {
//update tensor for allshapes, not the best way but should be somehow OK. (inspired from bullet)
float total_area=0;
for (int i=0;i<get_shape_count();i++) {
total_area+=get_shape_aabb(i).get_area();
}
Vector3 _inertia;
for (int i=0;i<get_shape_count();i++) {
const ShapeSW* shape=get_shape(i);
float area=get_shape_aabb(i).get_area();
float mass = area * this->mass / total_area;
_inertia += shape->get_moment_of_inertia(mass) + mass * get_shape_transform(i).get_origin();
}
if (_inertia!=Vector3())
_inv_inertia=_inertia.inverse();
else
_inv_inertia=Vector3();
if (mass)
_inv_mass=1.0/mass;
else
_inv_mass=0;
} break;
case PhysicsServer::BODY_MODE_KINEMATIC:
case PhysicsServer::BODY_MODE_STATIC: {
_inv_inertia=Vector3();
_inv_mass=0;
} break;
case PhysicsServer::BODY_MODE_CHARACTER: {
_inv_inertia=Vector3();
_inv_mass=1.0/mass;
} break;
}
_update_inertia_tensor();
//_update_shapes();
}
