void dgCollisionInstance::CalculateBuoyancyAcceleration (const dgMatrix& matrix, const dgVector& origin, const dgVector& gravity, const dgVector& fluidPlane, dgFloat32 fluidDensity, dgFloat32 fluidViscosity, dgVector& unitForce, dgVector& unitTorque)
{
dgMatrix globalMatrix (m_localMatrix * matrix);
unitForce = dgVector (dgFloat32 (0.0f));
unitTorque = dgVector (dgFloat32 (0.0f));
dgVector volumeIntegral (m_childShape->CalculateVolumeIntegral (globalMatrix, fluidPlane, *this));
if (volumeIntegral.m_w > dgFloat32 (0.0f)) {
dgVector buoyanceCenter (volumeIntegral - origin);
dgVector force (gravity.Scale (-fluidDensity * volumeIntegral.m_w));
dgVector torque (buoyanceCenter.CrossProduct(force));
unitForce += force;
unitTorque += torque;
}
}
void dgCollisionInstance::CalculateBuoyancyAcceleration (const dgMatrix& matrix, const dgVector& origin, const dgVector& gravity, const dgVector& fluidPlane, dgFloat32 fluidDensity, dgFloat32 fluidViscosity, dgVector& accel, dgVector& alpha)
{
dgMatrix scaledMatrix (m_localMatrix * matrix);
switch (m_scaleType)
{
case m_unit:
case m_uniform:
case m_nonUniform:
{
scaledMatrix[0] = scaledMatrix[0].Scale4 (m_scale[0]);
scaledMatrix[1] = scaledMatrix[1].Scale4 (m_scale[1]);
scaledMatrix[2] = scaledMatrix[2].Scale4 (m_scale[2]);
break;
}
default:
dgAssert(0);
}
accel = dgVector (dgFloat32 (0.0f));
alpha = dgVector (dgFloat32 (0.0f));
dgVector volumeIntegral (m_childShape->CalculateVolumeIntegral (scaledMatrix, fluidPlane));
if (volumeIntegral.m_w > dgFloat32 (0.0f)) {
dgVector buoyanceCenter (volumeIntegral - origin);
dgVector force (gravity.Scale3 (-fluidDensity * volumeIntegral.m_w));
dgVector torque (buoyanceCenter * force);
// dgFloat32 damp = GetMax (GetMin ((m_veloc % m_veloc) * dgFloat32 (100.0f) * fluidLinearViscousity, dgFloat32 (1.0f)), dgFloat32(dgFloat32 (10.0f)));
// force -= m_veloc.Scale3 (damp);
//damp = (m_omega % m_omega) * dgFloat32 (10.0f) * fluidAngularViscousity;
// damp = GetMax (GetMin ((m_omega % m_omega) * dgFloat32 (1000.0f) * fluidAngularViscousity, dgFloat32(0.25f)), dgFloat32(2.0f));
// torque -= m_omega.Scale3 (damp);
// dgThreadHiveScopeLock lock (m_world, &m_criticalSectionLock);
accel += force;
alpha += torque;
}
}
