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generate contact when body type changes at runtime, decoupling, add first ray cast hit query to world query (more to add later such as sphere/box/convex casts), hotfix

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Irlan Robson
2017-01-13 17:17:02 -02:00
parent caa9d703b5
commit 7d0f06fea2
18 changed files with 209 additions and 174 deletions
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29
include/bounce/common/math/mat33.h
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@@ -208,34 +208,6 @@ inline b3Mat33 b3Outer(const b3Vec3& a, const b3Vec3& b)
return b3Mat33(b.x * a, b.y * a, b.z * a);
}
// Move an inertia tensor from the its current center
// to another.
inline b3Mat33 b3MoveToCOM(const b3Mat33& inertia, float32 mass, const b3Vec3& center)
{
// Paralell Axis Theorem
// J = I + m * dot(r, r) * E - outer(r, r)
// where
// I - inertia about the center of mass
// m - mass
// E - identity 3x3
// r - displacement vector from the current com to the new com
// J - inertia tensor at the new center of rotation
float32 dd = b3Dot(center, center);
b3Mat33 A = b3Diagonal(mass * dd);
b3Mat33 B = b3Outer(center, center);
return inertia + A - B;
}
// Compute the inertia matrix of a body measured in
// inertial frame (variable over time) given the
// inertia matrix in body-fixed frame (constant)
// and a rotation matrix representing the orientation
// of the body frame relative to the inertial frame.
inline b3Mat33 b3RotateToFrame(const b3Mat33& inertia, const b3Mat33& rotation)
{
return rotation * inertia * b3Transpose(rotation);
}
// Compute an orthogonal basis given one of its vectors.
// The vector must be normalized.
inline b3Mat33 b3Basis(const b3Vec3& a)
@@ -250,6 +222,7 @@ inline b3Mat33 b3Basis(const b3Vec3& a)
{
A.y.Set(0.0f, a.z, -a.y);
}
A.x = a;
A.y = b3Normalize(A.y);
A.z = b3Cross(a, A.y);
return A;