예제 #1
0
파일: Cone.cpp 프로젝트: davidljung/opensim 
const MassProperties& Cone::getMassProperties(ref<const Material> material) const
{
  if (massPropertiesCached && (density == material->density()))
    return massProperties;

  density = material->density();
  Real volume = consts::Pi*Math::sqr(_radius)*_height/3.0;
  massProperties.mass = volume*density;

  const Real m = massProperties.mass;
  Matrix3 Ibody;
  Ibody.e(1,1) = (3.0/20.0)*m*Math::sqr(_radius) + (3.0/80.0)*m*Math::sqr(_height);
  Ibody.e(2,2) = Ibody.e(1,1);
  Ibody.e(3,3) = (3.0/10.0)*m*Math::sqr(_radius);

  massProperties.setIbody(Ibody);
  massProperties.centerOfMass = Point3(0.0,0.0,0.0);

  massPropertiesCached = true;
  return massProperties;
}
예제 #2
0
Vector2 lh::transform(const Matrix3& matrix, Vector2& vector, float z)
{
	return Vector2(
		matrix.a() * vector.x + matrix.d() * vector.y + matrix.g() * z,
		matrix.b() * vector.x + matrix.e() * vector.y + matrix.h() * z);
}
예제 #3
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Vector2 rh::transform(const Matrix3& matrix, Vector2& vector, float z)
{
	return Vector2(
		vector.x * matrix.a() + vector.y * matrix.b() + z * matrix.c(),
		vector.x * matrix.d() + vector.y * matrix.e() + z * matrix.f());
}