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Redefine capsules as a segment with a radius, allowing us to reuse the pfm_pfm_contact generator for it.

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This commit is contained in:
Crozet Sébastien
2020-10-26 15:58:30 +01:00
parent 3da333f11c
commit 2b628f9580
16 changed files with 150 additions and 76 deletions
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13
src/dynamics/mass_properties_capsule.rs
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@@ -1,22 +1,24 @@
use crate::dynamics::MassProperties;
use crate::math::Point;
#[cfg(feature = "dim3")]
use crate::math::Rotation;
use crate::{geometry::Capsule, math::Rotation};
impl MassProperties {
pub(crate) fn from_capsule(density: f32, half_height: f32, radius: f32) -> Self {
pub(crate) fn from_capsule(density: f32, a: Point<f32>, b: Point<f32>, radius: f32) -> Self {
let half_height = (b - a).norm() / 2.0;
let (cyl_vol, cyl_unit_i) = Self::cylinder_y_volume_unit_inertia(half_height, radius);
let (ball_vol, ball_unit_i) = Self::ball_volume_unit_angular_inertia(radius);
let cap_vol = cyl_vol + ball_vol;
let cap_mass = cap_vol * density;
let mut cap_unit_i = cyl_unit_i + ball_unit_i;
let local_com = na::center(&a, &b);
#[cfg(feature = "dim2")]
{
let h = half_height * 2.0;
let extra = h * h * 0.5 + h * radius * 3.0 / 8.0;
cap_unit_i += extra;
Self::new(Point::origin(), cap_mass, cap_unit_i * cap_mass)
Self::new(local_com, cap_mass, cap_unit_i * cap_mass)
}
#[cfg(feature = "dim3")]
@@ -25,11 +27,12 @@ impl MassProperties {
let extra = h * h * 0.5 + h * radius * 3.0 / 8.0;
cap_unit_i.x += extra;
cap_unit_i.z += extra;
let local_frame = Capsule::new(a, b, radius).rotation_wrt_y();
Self::with_principal_inertia_frame(
Point::origin(),
local_com,
cap_mass,
cap_unit_i * cap_mass,
Rotation::identity(),
local_frame,
)
}
}