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remove unused functions

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This commit is contained in:
Irlan 2017-02-27 10:47:40 -03:00
parent 091c99b5cf
commit ed0159f4b5
1 changed files with 0 additions and 36 deletions
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36
include/bounce/dynamics/time_step.h
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@ -77,18 +77,6 @@ inline b3Mat33 b3Steiner(const b3Vec3& v)
return S;
}
// Move an inertia tensor given the displacement vector from the center of mass to the translated origin.
inline b3Mat33 b3MoveToOrigin(const b3Mat33& I, const b3Vec3& v)
{
return I + b3Steiner(v);
}
// Move an inertia tensor given the displacement vector from the origin to the translated center of mass.
inline b3Mat33 b3MoveToCOM(const b3Mat33& I, const b3Vec3& v)
{
return I - b3Steiner(v);
}
// Compute the inertia matrix of a body measured in
// inertial frame (variable over time) given the
// inertia matrix in body-fixed frame (constant)
@ -118,28 +106,4 @@ inline b3Quat b3Integrate(const b3Quat& orientation, const b3Vec3& velocity, flo
return orientation + integral;
}
// Compute the time derivative of an orientation given
// the angular velocity of the rotating frame represented by the orientation.
inline b3Mat33 b3Derivative(const b3Mat33& orientation, const b3Vec3& velocity)
{
// Rate of change of a basis in a rotating frame:
// xdot = cross(w, ex)
// ydot = cross(w, ey)
// zdot = cross(w, ez)
// This should yield in:
// qdot = skew(velocity) * q
b3Mat33 xf = b3Skew(velocity);
return xf * orientation;
}
// Integrate an orientation over a time step given
// the current orientation, angular velocity of the rotating frame
// represented by the orientation, and the time step dt.
inline b3Mat33 b3Integrate(const b3Mat33& orientation, const b3Vec3& velocity, float32 dt)
{
b3Mat33 qdot = b3Derivative(orientation, velocity);
b3Mat33 integral = dt * qdot;
return orientation + integral;
}
#endif