void dNewtonBody::CalculateBuoyancyForces(const void* plane, void* force, void* torque, float bodyDensity)
{
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMass(m_body, &mass, &Ixx, &Iyy, &Izz);
if (mass > 0.0f) {
dMatrix matrix;
dVector cog(0.0f);
dVector accelPerUnitMass(0.0f);
dVector torquePerUnitMass(0.0f);
const dVector gravity(0.0f, -9.8f, 0.0f, 0.0f);
NewtonBodyGetMatrix(m_body, &matrix[0][0]);
NewtonBodyGetCentreOfMass(m_body, &cog[0]);
cog = matrix.TransformVector(cog);
NewtonCollision* const collision = NewtonBodyGetCollision(m_body);
dFloat shapeVolume = NewtonConvexCollisionCalculateVolume(collision);
dFloat fluidDensity = 1.0f / (bodyDensity * shapeVolume);
dFloat viscosity = 0.995f;
NewtonConvexCollisionCalculateBuoyancyAcceleration(collision, &matrix[0][0], &cog[0], &gravity[0], (float*)plane, fluidDensity, viscosity, &accelPerUnitMass[0], &torquePerUnitMass[0]);
dVector finalForce(accelPerUnitMass.Scale(mass));
dVector finalTorque(torquePerUnitMass.Scale(mass));
dVector omega(0.0f);
NewtonBodyGetOmega(m_body, &omega[0]);
omega = omega.Scale(viscosity);
NewtonBodySetOmega(m_body, &omega[0]);
((float*)force)[0] = finalForce.m_x ;
((float*)force)[1] = finalForce.m_y ;
((float*)force)[2] = finalForce.m_z ;
((float*)torque)[0] = finalTorque.m_x;
((float*)torque)[1] = finalTorque.m_y;
((float*)torque)[2] = finalTorque.m_z;
}
}
void OnInside(NewtonBody* const visitor)
{
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMass(visitor, &mass, &Ixx, &Iyy, &Izz);
if (mass > 0.0f) {
dMatrix matrix;
dVector cog(0.0f);
dVector accelPerUnitMass(0.0f);
dVector torquePerUnitMass(0.0f);
const dVector gravity (0.0f, DEMO_GRAVITY, 0.0f, 0.0f);
NewtonBodyGetMatrix (visitor, &matrix[0][0]);
NewtonBodyGetCentreOfMass(visitor, &cog[0]);
cog = matrix.TransformVector (cog);
NewtonCollision* const collision = NewtonBodyGetCollision(visitor);
dFloat shapeVolume = NewtonConvexCollisionCalculateVolume (collision);
dFloat fluidDentity = 1.0f / (m_waterToSolidVolumeRatio * shapeVolume);
dFloat viscosity = 0.995f;
NewtonConvexCollisionCalculateBuoyancyAcceleration (collision, &matrix[0][0], &cog[0], &gravity[0], &m_plane[0], fluidDentity, viscosity, &accelPerUnitMass[0], &torquePerUnitMass[0]);
dVector force (accelPerUnitMass.Scale (mass));
dVector torque (torquePerUnitMass.Scale (mass));
dVector omega(0.0f);
NewtonBodyGetOmega(visitor, &omega[0]);
omega = omega.Scale (viscosity);
NewtonBodySetOmega(visitor, &omega[0]);
NewtonBodyAddForce (visitor, &force[0]);
NewtonBodyAddTorque (visitor, &torque[0]);
}
}
