bool pxUtil_MassPropertiesComputer::ComputeSphereVolumeMassProperties( pxReal radius, pxReal mass, pxMassProperties &result )
{
if( !CHK( radius > 0.0f ) ) {
return false;
}
if( !CHK( mass > 0.0f ) ) {
return false;
}
result.centerOfMass.SetZero();
// volume = (4/3) * MX_PI * (radius^3)
result.volume = pxReal(4.0/3.0) * MX_PI * cubef( radius );
result.mass = mass;
const pxReal radiusSq = squaref( radius );
/*------------------------------------------------------
| (2/5) * M * (R^2) 0 0
| 0 (2/5) * M * (R^2) 0
| 0 0 (2/5) * M * (R^2)
*/
result.inertiaTensor.SetValue(
pxReal(0.4)*radiusSq, 0.0f, 0.0f,
0.0f, pxReal(0.4)*radiusSq, 0.0f,
0.0f, 0.0f, pxReal(0.4)*radiusSq
);
return true;
}
void RunFloatTests(void)
{
float f1 = 2.5;
float f2 = 2.6;
if(enabled)
{
printf("calling addTwoNums(%f, %f) with result %f.\n", f1, f2, addTwoNums(f1, f2));
printf("calling mulTwoNums(%f, %f) with result %f.\n", f1, f2, mulTwoNums(f1, f2));
printf("calling subTwoNums(%f, %f) with result %f.\n", f1, f2, subTwoNums(f1, f2));
printf("calling divTwoNums(%f, %f) with result %f.\n\n", f1, f2, divTwoNums(f1, f2));
}
f1 = 4.0;
f2 = 10.0;
if(enabled)
{
printf("calling squaref(%f) with result %f.\n", f1, squaref(f1));
printf("calling cubef(%f) with result %f.\n", f1, cubef(f1));
printf("calling squaref(%f) with result %f.\n", f2, squaref(f2));
printf("calling cubef(%f) with result %f.\n\n", f2, cubef(f2));
}
}
static long
Labaf_to_rgbaf (float *src,
float *dst,
long samples)
{
long n = samples;
while (n--)
{
float L = src[0];
float A = src[1];
float B = src[2];
float a = src[3];
float fy = (L + 16.0f) / 116.0f;
float fx = fy + A / 500.0f;
float fz = fy - B / 200.0f;
float yr = L > LAB_KAPPA * LAB_EPSILON ? cubef (fy) : L / LAB_KAPPA;
float xr = cubef (fx) > LAB_EPSILON ? cubef (fx) : (fx * 116.0f - 16.0f) / LAB_KAPPA;
float zr = cubef (fz) > LAB_EPSILON ? cubef (fz) : (fz * 116.0f - 16.0f) / LAB_KAPPA;
float r = 3.134274799724f * D50_WHITE_REF_X * xr -1.617275708956f * D50_WHITE_REF_Y * yr -0.490724283042f * D50_WHITE_REF_Z * zr;
float g = -0.978795575994f * D50_WHITE_REF_X * xr +1.916161689117f * D50_WHITE_REF_Y * yr +0.033453331711f * D50_WHITE_REF_Z * zr;
float b = 0.071976988401f * D50_WHITE_REF_X * xr -0.228984974402f * D50_WHITE_REF_Y * yr +1.405718224383f * D50_WHITE_REF_Z * zr;
dst[0] = r;
dst[1] = g;
dst[2] = b;
dst[3] = a;
src += 4;
dst += 4;
}
return samples;
}
