From 0488eec5698d51193732dbff24bde8f78400f264 Mon Sep 17 00:00:00 2001
From: Tazpn <tazpn@users.sourceforge.net>
Date: Sun, 7 Sep 2008 05:26:46 +0000
Subject: [PATCH] niflib: Add InertiaMatrix as first class niflib type. Add
qhull to niflib. Add UpdateMassCenterInertia to bhkRigidBody and supporing
bhkShape objects.
---
include/Inertia.h | 56 ++++++
include/NIF_IO.h | 3 +
include/gen/InertiaMatrix.h | 53 ------
include/nif_math.h | 206 ++++++++++++++++++++
include/obj/NiMorphData.h | 2 +-
include/obj/bhkBoxShape.h | 10 +
include/obj/bhkBvTreeShape.h | 11 ++
include/obj/bhkCapsuleShape.h | 10 +
include/obj/bhkConvexShape.h | 11 ++
include/obj/bhkConvexTransformShape.h | 10 +
include/obj/bhkConvexVerticesShape.h | 10 +
include/obj/bhkListShape.h | 10 +
include/obj/bhkMoppBvTreeShape.h | 10 +
include/obj/bhkMultiSphereShape.h | 10 +
include/obj/bhkNiTriStripsShape.h | 10 +
include/obj/bhkPackedNiTriStripsShape.h | 10 +
include/obj/bhkRigidBody.h | 17 +-
include/obj/bhkShape.h | 12 ++
include/obj/bhkSphereRepShape.h | 10 +
include/obj/bhkSphereShape.h | 10 +
include/obj/bhkTransformShape.h | 10 +
niflib.vcproj | 26 ++-
niflib_VC2008.vcproj | 36 +++-
src/Inertia.cpp | 238 ++++++++++++++++++++++++
src/NIF_IO.cpp | 17 ++
src/gen/InertiaMatrix.cpp | 37 ----
src/nif_math.cpp | 196 +++++++++++++++++++
src/obj/NiMorphData.cpp | 2 +-
src/obj/bhkBoxShape.cpp | 6 +
src/obj/bhkBvTreeShape.cpp | 7 +
src/obj/bhkCapsuleShape.cpp | 16 ++
src/obj/bhkConvexShape.cpp | 8 +
src/obj/bhkConvexTransformShape.cpp | 8 +
src/obj/bhkConvexVerticesShape.cpp | 12 +-
src/obj/bhkListShape.cpp | 25 +++
src/obj/bhkMoppBvTreeShape.cpp | 10 +
src/obj/bhkMultiSphereShape.cpp | 7 +
src/obj/bhkNiTriStripsShape.cpp | 21 +++
src/obj/bhkPackedNiTriStripsShape.cpp | 15 +-
src/obj/bhkRigidBody.cpp | 118 +++++-------
src/obj/bhkShape.cpp | 7 +
src/obj/bhkSphereRepShape.cpp | 8 +
src/obj/bhkSphereShape.cpp | 8 +
src/obj/bhkTransformShape.cpp | 16 ++
44 files changed, 1160 insertions(+), 175 deletions(-)
create mode 100644 include/Inertia.h
delete mode 100644 include/gen/InertiaMatrix.h
create mode 100644 src/Inertia.cpp
delete mode 100644 src/gen/InertiaMatrix.cpp
diff --git a/include/Inertia.h b/include/Inertia.h
new file mode 100644
index 00000000..a9c38c0b
--- /dev/null
+++ b/include/Inertia.h
@@ -0,0 +1,56 @@
+/* Copyright (c) 2006, NIF File Format Library and Tools
+All rights reserved. Please see niflib.h for license. */
+
+#ifndef _NIF_INERTIA_H
+#define _NIF_INERTIA_H
+#pragma once
+
+//--Includes--//
+#include "nif_math.h"
+#include <vector>
+
+namespace Niflib {
+
+class Inertia {
+public:
+
+ /*! Return mass and inertia matrix for a sphere of given radius and
+ * density.
+ */
+ static void GetMassInertiaSphere(float radius, float density,
+ bool solid, float& mass, InertiaMatrix &inertia);
+
+ /*! Return mass and inertia matrix for a box of given size and
+ * density.
+ */
+ static void GetMassInertiaBox(Vector3 size, float density,
+ bool solid, float& mass, InertiaMatrix &inertia);
+ /*! Return mass and inertia matrix for a cylinder of given radius,
+ * height and density.
+ */
+ static void GetMassInertiaCylinder(float radius, float height,
+ float density, bool solid,
+ float& mass, InertiaMatrix &inertia);
+
+ /*! Return mass and inertia matrix for a capsule of given radius,
+ * height and density.
+ */
+ static void GetMassInertiaCapsule(float radius, float height,
+ float density, bool solid,
+ float& mass, InertiaMatrix &inertia);
+
+ /*! Return mass and inertia matrix for a capsule of given radius,
+ * height and density.
+ */
+ static void GetMassCenterInertiaPolyhedron(
+ const std::vector<Niflib::Vector3>& vertices,
+ const std::vector<Niflib::Triangle>& triangles,
+ float density, bool solid,
+ float& mass, Niflib::Vector3& center, InertiaMatrix &inertia);
+
+private:
+ explicit Inertia();
+};
+
+}
+#endif
\ No newline at end of file
diff --git a/include/NIF_IO.h b/include/NIF_IO.h
index cf557a2c..f6093cec 100644
--- a/include/NIF_IO.h
+++ b/include/NIF_IO.h
@@ -209,6 +209,9 @@ void NifStream( Char8String & val, istream& in, const NifInfo & info );
void NifStream( Char8String const & val, ostream& out, const NifInfo & info );
ostream & operator<<( ostream & out, Char8String const & val );
+//InertiaMatrix
+void NifStream( InertiaMatrix & val, istream& in, const NifInfo & info);
+void NifStream( InertiaMatrix const & val, ostream& out, const NifInfo & info);
//--Templates--//
diff --git a/include/gen/InertiaMatrix.h b/include/gen/InertiaMatrix.h
deleted file mode 100644
index e6a2c138..00000000
--- a/include/gen/InertiaMatrix.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/* Copyright (c) 2006, NIF File Format Library and Tools
-All rights reserved. Please see niflib.h for license. */
-
-//---THIS FILE WAS AUTOMATICALLY GENERATED. DO NOT EDIT---//
-
-//To change this file, alter the niftools/docsys/gen_niflib.py Python script.
-
-#ifndef _INERTIAMATRIX_H_
-#define _INERTIAMATRIX_H_
-
-#include "../NIF_IO.h"
-
-namespace Niflib {
-
-
-/*! An inertia matrix. */
-struct InertiaMatrix {
- /*! Default Constructor */
- NIFLIB_API InertiaMatrix();
- /*! Default Destructor */
- NIFLIB_API ~InertiaMatrix();
- /*! Copy Constructor */
- NIFLIB_API InertiaMatrix( const InertiaMatrix & src );
- /*! Copy Operator */
- NIFLIB_API InertiaMatrix & operator=( const InertiaMatrix & src );
- /*! Unknown. */
- float m11;
- /*! Unknown. */
- float m12;
- /*! Unknown. */
- float m13;
- /*! Zero */
- float m14;
- /*! Unknown. */
- float m21;
- /*! Unknown. */
- float m22;
- /*! Unknown. */
- float m23;
- /*! Zero */
- float m24;
- /*! Unknown. */
- float m31;
- /*! Unknown. */
- float m32;
- /*! Unknown. */
- float m33;
- /*! Zero */
- float m34;
-};
-
-}
-#endif
diff --git a/include/nif_math.h b/include/nif_math.h
index 3dd3bf83..2c389be3 100644
--- a/include/nif_math.h
+++ b/include/nif_math.h
@@ -30,6 +30,7 @@ struct Float3;
struct Matrix33;
struct Float4;
struct Matrix44;
+struct InertiaMatrix;
/*! Stores 2D texture coordinates as two floating point variables, u and v. */
struct TexCoord {
@@ -231,6 +232,13 @@ struct Vector3 {
*/
NIFLIB_API bool operator!=( const Vector3 & rh ) const;
+ /*! The bracket operator makes it possible to use this structure like a C++ array.
+ * \param[in] n The index into the data array. Should be 0, 1, or 2.
+ * \return The value at the given array index by reference so it can be read or set via the bracket operator.
+ */
+ NIFLIB_API float & operator[](int n);
+ NIFLIB_API float operator[](int n) const;
+
/* Computes the dot product of two vectors; the angle between two vectors.
* \param[in] rh The vector to perform the dot product with
* \return The angle in radians between this vector and the one given
@@ -823,6 +831,18 @@ struct Matrix44 {
*/
NIFLIB_API Matrix44 & operator+=( const Matrix44 & rh );
+ /* Adds this matrix to another.
+ * \param[in] rh The matrix to be added to this one.
+ * \return The result of the addition.
+ */
+ NIFLIB_API Matrix44 operator-( const Matrix44 & rh ) const;
+
+ /* Adds this matrix to another and sets the result to itself.
+ * \param[in] rh The matrix to be added to this one.
+ * \return This matrix is returned.
+ */
+ NIFLIB_API Matrix44 & operator-=( const Matrix44 & rh );
+
/* Sets the values of this matrix to those of the given matrix.
* \param[in] rh The matrix to copy values from.
* \return This matrix is returned.
@@ -1020,6 +1040,190 @@ struct Quaternion {
NIFLIB_API Float3 AsEulerYawPitchRoll();
};
+
+/*! Stores a 4 by 3 matrix used for tensors. */
+struct InertiaMatrix {
+ /*! The 4x3 identity matrix constant */
+ NIFLIB_API static const InertiaMatrix IDENTITY;
+
+ Float4 rows[3]; /*!< The three rows of Float3 structures which hold three floating point numbers each. */
+
+ /*! The bracket operator makes it possible to use this structure like a 4x4 C++ array.
+ * \param[in] n The index into the row array. Should be 0, 1, 2, or 3.
+ * \return The Float4 structure for the given row index by reference so it can be read or set via the bracket operator.
+ */
+ NIFLIB_API Float4 & operator[](int n) {
+ return rows[n];
+ }
+ NIFLIB_API Float4 const & operator[](int n) const {
+ return rows[n];
+ }
+
+ /*! Default constructor. Initializes Matrix to Identity. */
+ NIFLIB_API InertiaMatrix();
+
+ /*! Copy constructor. Initializes Matrix to another InertiaMatrix.
+ * \param[in] m The matrix to initialize this one to.
+ */
+ NIFLIB_API InertiaMatrix( const InertiaMatrix & m ) { memcpy(rows, m.rows, sizeof(Float4) * 4); }
+
+ /*! This constructor can be used to set all values in this matrix during initialization
+ * \param[in] m11 The value to set at row 1, column 1.
+ * \param[in] m12 The value to set at row 1, column 2.
+ * \param[in] m13 The value to set at row 1, column 3.
+ * \param[in] m14 The value to set at row 1, column 4.
+ * \param[in] m21 The value to set at row 2, column 1.
+ * \param[in] m22 The value to set at row 2, column 2.
+ * \param[in] m23 The value to set at row 2, column 3.
+ * \param[in] m24 The value to set at row 2, column 4.
+ * \param[in] m31 The value to set at row 3, column 1.
+ * \param[in] m32 The value to set at row 3, column 2.
+ * \param[in] m33 The value to set at row 3, column 3.
+ * \param[in] m34 The value to set at row 3, column 4.
+ * \param[in] m41 The value to set at row 4, column 1.
+ * \param[in] m42 The value to set at row 4, column 2.
+ * \param[in] m43 The value to set at row 4, column 3.
+ * \param[in] m44 The value to set at row 4, column 4.
+ */
+ NIFLIB_API InertiaMatrix(
+ float m11, float m12, float m13, float m14,
+ float m21, float m22, float m23, float m24,
+ float m31, float m32, float m33, float m34
+ ) {
+ rows[0][0] = m11; rows[0][1] = m12; rows[0][2] = m13; rows[0][3] = m14;
+ rows[1][0] = m21; rows[1][1] = m22; rows[1][2] = m23; rows[1][3] = m24;
+ rows[2][0] = m31; rows[2][1] = m32; rows[2][2] = m33; rows[2][3] = m34;
+ }
+
+ /*! This constructor allows a 4x4 transform matrix to be initalized from a
+ * a 3x3 rotation matrix.
+ * \param[in] rotation The 3x3 rotation matrix.
+ */
+ NIFLIB_API InertiaMatrix( const Matrix33 & rotation );
+
+ /*! This function can be used to set all values in this matrix at the same time.
+ * \param[in] m11 The value to set at row 1, column 1.
+ * \param[in] m12 The value to set at row 1, column 2.
+ * \param[in] m13 The value to set at row 1, column 3.
+ * \param[in] m14 The value to set at row 1, column 4.
+ * \param[in] m21 The value to set at row 2, column 1.
+ * \param[in] m22 The value to set at row 2, column 2.
+ * \param[in] m23 The value to set at row 2, column 3.
+ * \param[in] m24 The value to set at row 2, column 4.
+ * \param[in] m31 The value to set at row 3, column 1.
+ * \param[in] m32 The value to set at row 3, column 2.
+ * \param[in] m33 The value to set at row 3, column 3.
+ * \param[in] m34 The value to set at row 3, column 4.
+ */
+ NIFLIB_API void Set(
+ float m11, float m12, float m13, float m14,
+ float m21, float m22, float m23, float m24,
+ float m31, float m32, float m33, float m34
+ ) {
+ rows[0][0] = m11; rows[0][1] = m12; rows[0][2] = m13; rows[0][3] = m14;
+ rows[1][0] = m21; rows[1][1] = m22; rows[1][2] = m23; rows[1][3] = m24;
+ rows[2][0] = m31; rows[2][1] = m32; rows[2][2] = m33; rows[2][3] = m34;
+ }
+
+ /* Multiplies this matrix by another.
+ * \param[in] rh The matrix to multiply this one with.
+ * \return The result of the multiplication.
+ */
+ NIFLIB_API InertiaMatrix operator*( const InertiaMatrix & rh ) const;
+
+ /* Multiplies this matrix by another and sets the result to itself.
+ * \param[in] rh The matrix to multiply this one with.
+ * \return This matrix is returned.
+ */
+ NIFLIB_API InertiaMatrix & operator*=( const InertiaMatrix & rh );
+
+ /* Multiplies this matrix by a scalar value.
+ * \param[in] rh The scalar value to multiply each component of this matrix by.
+ * \return The result of the multiplication.
+ */
+ NIFLIB_API InertiaMatrix operator*( float rh ) const;
+
+ /* Multiplies this matrix by a scalar value and sets the resutl to itself.
+ * \param[in] rh The scalar value to multiply each component of this matrix by.
+ * \return This matrix is returned.
+ */
+ NIFLIB_API InertiaMatrix & operator*=( float rh );
+
+ /* Multiplies this matrix by a vector with x, y, and z components.
+ * \param[in] rh The vector to multiply this matrix with.
+ * \return The result of the multiplication.
+ */
+ NIFLIB_API Vector3 operator*( const Vector3 & rh ) const;
+
+ /* Adds this matrix to another.
+ * \param[in] rh The matrix to be added to this one.
+ * \return The result of the addition.
+ */
+ NIFLIB_API InertiaMatrix operator+( const InertiaMatrix & rh ) const;
+
+ /* Adds this matrix to another and sets the result to itself.
+ * \param[in] rh The matrix to be added to this one.
+ * \return This matrix is returned.
+ */
+ NIFLIB_API InertiaMatrix & operator+=( const InertiaMatrix & rh );
+
+ /* Sets the values of this matrix to those of the given matrix.
+ * \param[in] rh The matrix to copy values from.
+ * \return This matrix is returned.
+ */
+ NIFLIB_API InertiaMatrix & operator=( const InertiaMatrix & rh );
+
+ /* Allows the contents of the matrix to be printed to an ostream.
+ * \param[in] lh The ostream to insert the text into.
+ * \param[in] rh The matrix to insert into the stream.
+ * \return The given ostream is returned.
+ */
+ NIFLIB_API friend ostream & operator<<( ostream & lh, const InertiaMatrix & rh );
+
+ /* Compares two 4x4 matricies. They are considered equal if all components are equal.
+ * \param[in] rh The matrix to compare this one with.
+ * \return true if the matricies are equal, false otherwise.
+ */
+ NIFLIB_API bool operator==( const InertiaMatrix & rh ) const;
+
+ /* Compares two 4x4 matricies. They are considered inequal if any corresponding
+ * components are inequal.
+ * \param[in] rh The matrix to compare this one with.
+ * \return true if the matricies are inequal, false otherwise.
+ */
+ NIFLIB_API bool operator!=( const InertiaMatrix & rh ) const;
+
+ /*! Calculates the transpose of this matrix.
+ * \return The transpose of this matrix.
+ */
+ NIFLIB_API InertiaMatrix Transpose() const;
+
+ /*! Calculates the determinant of this matrix.
+ * \return The determinant of this matrix.
+ */
+ NIFLIB_API float Determinant() const;
+
+ /*! Calculates the inverse of this matrix.
+ * \return The inverse of this matrix.
+ */
+ NIFLIB_API InertiaMatrix Inverse() const;
+
+ /*! Returns a 3x3 submatrix of this matrix created by skipping the indicated row and column.
+ * \param[in] skip_r The row to skip. Must be a value between 0 and 3.
+ * \param[in] skip_c The colum to skip. Must be a value between 0 and 3.
+ * \return The 3x3 submatrix obtained by skipping the indicated row and column.
+ */
+ NIFLIB_API Matrix33 Submatrix( int skip_r, int skip_c ) const;
+
+ /*! Calculates the adjunct of this matrix created by skipping the indicated row and column.
+ * \param[in] skip_r The row to skip. Must be a value between 0 and 3.
+ * \param[in] skip_c The colum to skip. Must be a value between 0 and 3.
+ * \return The adjunct obtained by skipping the indicated row and column.
+ */
+ NIFLIB_API float Adjoint( int skip_r, int skip_c ) const;
+};
+
+
//--ostream functions for printing with cout--//
NIFLIB_API ostream & operator<<( ostream & out, TexCoord const & val );
@@ -1033,6 +1237,8 @@ NIFLIB_API ostream & operator<<( ostream & out, Float4 const & val );
NIFLIB_API ostream & operator<<( ostream & out, Color3 const & val );
NIFLIB_API ostream & operator<<( ostream & out, Color4 const & val );
NIFLIB_API ostream & operator<<( ostream & out, Quaternion const & val );
+NIFLIB_API ostream & operator<<( ostream & out, Matrix44 const & val );
+NIFLIB_API ostream & operator<<( ostream & out, InertiaMatrix const & val );
}
#endif
diff --git a/include/obj/NiMorphData.h b/include/obj/NiMorphData.h
index 426ab11e..4ead91ae 100644
--- a/include/obj/NiMorphData.h
+++ b/include/obj/NiMorphData.h
@@ -164,7 +164,7 @@ protected:
/*! Number of vertices. */
unsigned int numVertices;
/*! This byte is always 1 in all official files. */
- bool relativeTargets;
+ byte relativeTargets;
/*! The geometry morphing objects. */
vector<Morph > morphs;
public:
diff --git a/include/obj/bhkBoxShape.h b/include/obj/bhkBoxShape.h
index dc14ea94..c17851aa 100644
--- a/include/obj/bhkBoxShape.h
+++ b/include/obj/bhkBoxShape.h
@@ -66,6 +66,16 @@ public:
*/
NIFLIB_API void SetDimensions( const Vector3 & value );
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
protected:
/*! Unknown. */
diff --git a/include/obj/bhkBvTreeShape.h b/include/obj/bhkBvTreeShape.h
index 16e32e98..03d8c929 100644
--- a/include/obj/bhkBvTreeShape.h
+++ b/include/obj/bhkBvTreeShape.h
@@ -52,6 +52,17 @@ public:
*/
NIFLIB_API virtual const Type & GetType() const;
+
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--BEGIN MISC CUSTOM CODE--//
//--END CUSTOM CODE--//
public:
diff --git a/include/obj/bhkCapsuleShape.h b/include/obj/bhkCapsuleShape.h
index 2eaf164f..6428b717 100644
--- a/include/obj/bhkCapsuleShape.h
+++ b/include/obj/bhkCapsuleShape.h
@@ -114,6 +114,16 @@ public:
*/
NIFLIB_API void SetRadius2( float value );
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
protected:
/*! Unknown. */
diff --git a/include/obj/bhkConvexShape.h b/include/obj/bhkConvexShape.h
index 2b7dd380..aec3cdb5 100644
--- a/include/obj/bhkConvexShape.h
+++ b/include/obj/bhkConvexShape.h
@@ -53,6 +53,17 @@ public:
NIFLIB_API virtual const Type & GetType() const;
//--BEGIN MISC CUSTOM CODE--//
+
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
public:
/*! NIFLIB_HIDDEN function. For internal use only. */
diff --git a/include/obj/bhkConvexTransformShape.h b/include/obj/bhkConvexTransformShape.h
index 2e835654..9b8864bc 100644
--- a/include/obj/bhkConvexTransformShape.h
+++ b/include/obj/bhkConvexTransformShape.h
@@ -53,6 +53,16 @@ public:
NIFLIB_API virtual const Type & GetType() const;
//--BEGIN MISC CUSTOM CODE--//
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
public:
/*! NIFLIB_HIDDEN function. For internal use only. */
diff --git a/include/obj/bhkConvexVerticesShape.h b/include/obj/bhkConvexVerticesShape.h
index 24b7a1fc..3155f085 100644
--- a/include/obj/bhkConvexVerticesShape.h
+++ b/include/obj/bhkConvexVerticesShape.h
@@ -111,6 +111,16 @@ public:
*/
NIFLIB_API void SetNormalsAndDist(const vector<Vector4>& value);
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
protected:
/*!
diff --git a/include/obj/bhkListShape.h b/include/obj/bhkListShape.h
index 605c85ad..7d362570 100644
--- a/include/obj/bhkListShape.h
+++ b/include/obj/bhkListShape.h
@@ -91,6 +91,16 @@ public:
*/
NIFLIB_API void SetMaterial( HavokMaterial value );
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
protected:
/*! The number of sub shapes referenced. */
diff --git a/include/obj/bhkMoppBvTreeShape.h b/include/obj/bhkMoppBvTreeShape.h
index 7e563487..8ef6c4f7 100644
--- a/include/obj/bhkMoppBvTreeShape.h
+++ b/include/obj/bhkMoppBvTreeShape.h
@@ -130,6 +130,16 @@ public:
*/
NIFLIB_API void SetMoppScale( float value );
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
protected:
/*! The shape. */
diff --git a/include/obj/bhkMultiSphereShape.h b/include/obj/bhkMultiSphereShape.h
index 61a06437..abdf6758 100644
--- a/include/obj/bhkMultiSphereShape.h
+++ b/include/obj/bhkMultiSphereShape.h
@@ -70,6 +70,16 @@ public:
NIFLIB_API void SetSpheres( const vector<SphereBV> & value );
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
protected:
/*! Unknown. */
diff --git a/include/obj/bhkNiTriStripsShape.h b/include/obj/bhkNiTriStripsShape.h
index ba5454aa..f1a5f0b7 100644
--- a/include/obj/bhkNiTriStripsShape.h
+++ b/include/obj/bhkNiTriStripsShape.h
@@ -131,6 +131,16 @@ public:
NIFLIB_API unsigned char GetOblivionFilter( unsigned int index ) const;
NIFLIB_API void SetOblivionFilter( unsigned int index, unsigned char filter );
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
protected:
/*! The shape's material. */
diff --git a/include/obj/bhkPackedNiTriStripsShape.h b/include/obj/bhkPackedNiTriStripsShape.h
index d534d8dd..b9326232 100644
--- a/include/obj/bhkPackedNiTriStripsShape.h
+++ b/include/obj/bhkPackedNiTriStripsShape.h
@@ -83,6 +83,16 @@ public:
*/
NIFLIB_API void SetSubShapes( vector<OblivionSubShape>& value );
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
protected:
/*! Number of subparts. */
diff --git a/include/obj/bhkRigidBody.h b/include/obj/bhkRigidBody.h
index 76104f3f..b71f1f0f 100644
--- a/include/obj/bhkRigidBody.h
+++ b/include/obj/bhkRigidBody.h
@@ -17,7 +17,6 @@ All rights reserved. Please see niflib.h for license. */
// Include structures
#include "../gen/QuaternionXYZW.h"
-#include "../gen/InertiaMatrix.h"
#include "../Ref.h"
namespace Niflib {
@@ -133,13 +132,13 @@ public:
* Gets the current inertia of this rigid body.
* \return The inertia of this rigid body.
*/
- NIFLIB_API array<12,float> GetInertia() const;
+ NIFLIB_API InertiaMatrix GetInertia() const;
/*!
* Sets a new inertia for this rigid body.
* \param[in] value The new inertia for this rigid body.
*/
- NIFLIB_API void SetInertia( const array<12,float> & value );
+ NIFLIB_API void SetInertia( const InertiaMatrix & value );
/*!
* Gets the current center point of this rigid body.
@@ -284,13 +283,21 @@ public:
// Usually set to 1 for fixed objects, or set to 2 for moving ones. Seems to
// always be same as Unknown Byte 1.
// \return The current value.
- SolverDeactivation GetSolverDeactivation() const;
+ NIFLIB_API SolverDeactivation GetSolverDeactivation() const;
// Usually set to 1 for fixed objects, or set to 2 for moving ones. Seems to
// always be same as Unknown Byte 1.
// \param[in] value The new value.
- void SetSolverDeactivation( const SolverDeactivation & value );
+ NIFLIB_API void SetSolverDeactivation( const SolverDeactivation & value );
+ // Apply scale factor <scale> on data.
+ // \param[in] scale Factor to scale by
+ NIFLIB_API void ApplyScale(float scale);
+
+ // Look at all the objects under this rigid body and update the mass
+ // center of gravity, and inertia tensor accordingly. If the mass parameter
+ // is given then the density argument is ignored.
+ NIFLIB_API void UpdateMassCenterInertia(float density = 1.0f, bool solid = true, float mass = 0.0f);
//--END CUSTOM CODE--//
protected:
diff --git a/include/obj/bhkShape.h b/include/obj/bhkShape.h
index d1704f6b..6b858a03 100644
--- a/include/obj/bhkShape.h
+++ b/include/obj/bhkShape.h
@@ -11,6 +11,7 @@ All rights reserved. Please see niflib.h for license. */
#define _BHKSHAPE_H_
//--BEGIN FILE HEAD CUSTOM CODE--//
+#include "../NIF_IO.h"
//--END CUSTOM CODE--//
#include "bhkSerializable.h"
@@ -53,6 +54,17 @@ public:
NIFLIB_API virtual const Type & GetType() const;
//--BEGIN MISC CUSTOM CODE--//
+
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
public:
/*! NIFLIB_HIDDEN function. For internal use only. */
diff --git a/include/obj/bhkSphereRepShape.h b/include/obj/bhkSphereRepShape.h
index 27cb1b44..fd08bad8 100644
--- a/include/obj/bhkSphereRepShape.h
+++ b/include/obj/bhkSphereRepShape.h
@@ -81,6 +81,16 @@ public:
*/
NIFLIB_API void SetRadius( float value );
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
protected:
/*! The shape's material. */
diff --git a/include/obj/bhkSphereShape.h b/include/obj/bhkSphereShape.h
index 0b32da66..1145b7ee 100644
--- a/include/obj/bhkSphereShape.h
+++ b/include/obj/bhkSphereShape.h
@@ -66,6 +66,16 @@ public:
*/
NIFLIB_API void SetRadius( float value );
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
public:
/*! NIFLIB_HIDDEN function. For internal use only. */
diff --git a/include/obj/bhkTransformShape.h b/include/obj/bhkTransformShape.h
index 6cf08300..34d7470d 100644
--- a/include/obj/bhkTransformShape.h
+++ b/include/obj/bhkTransformShape.h
@@ -94,6 +94,16 @@ public:
*/
NIFLIB_API virtual void SetTransform( const Matrix44 & value );
+ /*! Helper routine for calculating mass properties.
+ * \param[in] density Uniform density of object
+ * \param[in] solid Determines whether the object is assumed to be solid or not
+ * \param[out] mass Calculated mass of the object
+ * \param[out] center Center of mass
+ * \param[out] inertia Mass Inertia Tensor
+ * \return Return mass, center, and inertia tensor.
+ */
+ NIFLIB_API virtual void CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia);
+
//--END CUSTOM CODE--//
protected:
diff --git a/niflib.vcproj b/niflib.vcproj
index ba817327..33bf04b4 100644
--- a/niflib.vcproj
+++ b/niflib.vcproj
@@ -597,7 +597,7 @@
UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
>
<File
- RelativePath=".\src\ComplexShape.cpp"
+ RelativePath=".\src\Inertia.cpp"
>
</File>
<File
@@ -652,6 +652,10 @@
/>
</FileConfiguration>
</File>
+ <File
+ RelativePath=".\src\nifqhull.cpp"
+ >
+ </File>
<File
RelativePath=".\src\ObjectRegistry.cpp"
>
@@ -1851,6 +1855,10 @@
RelativePath=".\src\gen\ChannelData.cpp"
>
</File>
+ <File
+ RelativePath=".\src\ComplexShape.cpp"
+ >
+ </File>
<File
RelativePath=".\src\gen\ControllerLink.cpp"
>
@@ -1883,10 +1891,6 @@
RelativePath=".\src\gen\hkTriangle.cpp"
>
</File>
- <File
- RelativePath=".\src\gen\InertiaMatrix.cpp"
- >
- </File>
<File
RelativePath=".\src\gen\LimitedHingeDescriptor.cpp"
>
@@ -2054,6 +2058,10 @@
RelativePath=".\include\FixLink.h"
>
</File>
+ <File
+ RelativePath=".\include\Inertia.h"
+ >
+ </File>
<File
RelativePath=".\include\Key.h"
>
@@ -2086,6 +2094,10 @@
RelativePath=".\include\niflib.h"
>
</File>
+ <File
+ RelativePath=".\include\nifqhull.h"
+ >
+ </File>
<File
RelativePath=".\include\ObjectRegistry.h"
>
@@ -2105,6 +2117,10 @@
<Filter
Name="obj"
>
+ <File
+ RelativePath=".\include\obj\ATextureRenderData.h"
+ >
+ </File>
<File
RelativePath=".\include\obj\AvoidNode.h"
>
diff --git a/niflib_VC2008.vcproj b/niflib_VC2008.vcproj
index d31472d6..3146ad08 100644
--- a/niflib_VC2008.vcproj
+++ b/niflib_VC2008.vcproj
@@ -593,6 +593,10 @@
Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
>
+ <File
+ RelativePath=".\src\Inertia.cpp"
+ >
+ </File>
<File
RelativePath=".\src\kfm.cpp"
>
@@ -645,6 +649,10 @@
/>
</FileConfiguration>
</File>
+ <File
+ RelativePath=".\src\nifqhull.cpp"
+ >
+ </File>
<File
RelativePath=".\src\ObjectRegistry.cpp"
>
@@ -1880,10 +1888,6 @@
RelativePath=".\src\gen\hkTriangle.cpp"
>
</File>
- <File
- RelativePath=".\src\gen\InertiaMatrix.cpp"
- >
- </File>
<File
RelativePath=".\src\gen\LimitedHingeDescriptor.cpp"
>
@@ -2051,6 +2055,10 @@
RelativePath=".\include\FixLink.h"
>
</File>
+ <File
+ RelativePath=".\include\Inertia.h"
+ >
+ </File>
<File
RelativePath=".\include\Key.h"
>
@@ -2083,6 +2091,10 @@
RelativePath=".\include\niflib.h"
>
</File>
+ <File
+ RelativePath=".\include\nifqhull.h"
+ >
+ </File>
<File
RelativePath=".\include\ObjectRegistry.h"
>
@@ -2798,6 +2810,10 @@
RelativePath=".\include\obj\NiPathInterpolator.h"
>
</File>
+ <File
+ RelativePath=".\include\obj\NiPersistentSrcTextureRendererData.h"
+ >
+ </File>
<File
RelativePath=".\include\obj\NiPhysXActorDesc.h"
>
@@ -3034,6 +3050,14 @@
RelativePath=".\include\obj\NiRotatingParticlesData.h"
>
</File>
+ <File
+ RelativePath=".\include\obj\NiScreenElements.h"
+ >
+ </File>
+ <File
+ RelativePath=".\include\obj\NiScreenElementsData.h"
+ >
+ </File>
<File
RelativePath=".\include\obj\NiScreenLODData.h"
>
@@ -3370,6 +3394,10 @@
RelativePath=".\include\gen\physXMaterialRef.h"
>
</File>
+ <File
+ RelativePath=".\include\gen\Polygon.h"
+ >
+ </File>
<File
RelativePath=".\include\gen\QuaternionXYZW.h"
>
diff --git a/src/Inertia.cpp b/src/Inertia.cpp
new file mode 100644
index 00000000..1b103488
--- /dev/null
+++ b/src/Inertia.cpp
@@ -0,0 +1,238 @@
+/* Copyright (c) 2006, NIF File Format Library and Tools
+All rights reserved. Please see niflib.h for license. */
+
+#include "../include/Inertia.h"
+#include <vector>
+#include <algorithm>
+#include <functional>
+#include <numeric>
+#define _USE_MATH_DEFINES
+#include <math.h>
+using namespace Niflib;
+
+void Inertia::GetMassInertiaSphere(float radius, float density, bool solid,
+ float& mass, InertiaMatrix &inertia)
+{
+ float inertiaScalar;
+ if (solid) {
+ mass = density * (4.0f * float(M_PI) * pow(radius, 3.0f)) / 3.0f;
+ inertiaScalar = (2.0f * mass * pow(radius, 2.0f)) / 5.0f;
+ } else {
+ mass = density * 4.0f * float(M_PI) * pow(radius, 2.0f);
+ inertiaScalar = (2.0f * mass * pow(radius, 2.0f)) / 3.0f;
+ }
+ inertia = InertiaMatrix::IDENTITY;
+ inertia[0][0] = inertia[1][1] = inertia[2][2] = inertiaScalar;
+}
+
+
+
+void Inertia::GetMassInertiaBox(Vector3 size, float density, bool solid,
+ float& mass, InertiaMatrix &inertia)
+{
+ Vector3 tmp;
+ if (solid)
+ {
+ mass = density * (size[0] * size[1] * size[2]);
+ tmp[0] = mass * pow(size[0], 2.0f) / 12.0f;
+ tmp[1] = mass * pow(size[1], 2.0f) / 12.0f;
+ tmp[2] = mass * pow(size[2], 2.0f) / 12.0f;
+ }
+ else
+ {
+ mass = density * ((size[0]*size[1]*2.0f) + (size[0]*size[2]*2.0f) + (size[1]*size[2]*2.0f));
+ tmp[0] = mass * pow(size[0], 2.0f) / 6.0f;
+ tmp[1] = mass * pow(size[1], 2.0f) / 6.0f;
+ tmp[2] = mass * pow(size[2], 2.0f) / 6.0f;
+ //TODO: just guessing here, calculate it
+ }
+ inertia = InertiaMatrix::IDENTITY;
+ inertia[0][0] = tmp[1] + tmp[2];
+ inertia[1][1] = tmp[2] + tmp[0];
+ inertia[2][2] = tmp[0] + tmp[1];
+}
+
+void Inertia::GetMassInertiaCylinder(float radius, float height,
+ float density, bool solid,
+ float& mass, InertiaMatrix &inertia)
+{
+ inertia = InertiaMatrix::IDENTITY;
+ if (solid)
+ {
+ mass = density * height * float(M_PI) * pow(radius, 2.0f);
+ inertia[0][0] =
+ inertia[1][1] = mass * (3.0f * pow(radius, 3.0f) + pow(height, 2.0f)) / 12.0f;
+ inertia[2][2] = mass * (pow(radius, 2.0f)) / 2.0f;
+ }
+ else
+ {
+ mass = density * height * float(M_PI) * pow(radius, 2.0f);
+ inertia[0][0] =
+ inertia[1][1] = mass * (6.0f * pow(radius, 3.0f) + pow(height, 2.0f)) / 12.0f;
+ inertia[2][2] = mass * (pow(radius, 2.0f));
+ }
+}
+
+void Inertia::GetMassInertiaCapsule(float radius, float height,
+ float density, bool solid,
+ float& mass, InertiaMatrix &inertia)
+{
+ // cylinder + caps, and caps have volume of a sphere
+ inertia = InertiaMatrix::IDENTITY;
+ if (solid)
+ {
+ mass = density * (height * float(M_PI) * pow(radius, 2.0f) + (4.0f * float(M_PI) * pow(radius, 3.0f)) / 3.0f);
+ inertia[0][0] = mass * (3.0f * pow(radius, 3.0f) + pow(height, 2.0f)) / 12.0f;
+ inertia[1][1] = inertia[0][0];
+ inertia[2][2] = mass * (pow(radius, 2.0f)) / 2.0f;
+ }
+ else
+ {
+ mass = density * (height * 2.0f * float(M_PI) * radius + 2.0f * float(M_PI) * pow(radius, 2.0f));
+ inertia[0][0] = mass * (6.0f * pow(radius, 2.0f) + pow(height, 2.0f)) / 12.0f;
+ inertia[1][1] = inertia[0][0];
+ inertia[2][2] = mass * pow(radius, 2.0f);
+ }
+}
+
+//
+// References
+// ----------
+//
+// Jonathan Blow, Atman J Binstock
+// "How to find the inertia tensor (or other mass properties) of a 3D solid body represented by a triangle mesh"
+// http://number-none.com/blow/inertia/bb_inertia.doc
+//
+// David Eberly
+// "Polyhedral Mass Properties (Revisited)"
+// http://www.geometrictools.com//LibPhysics/RigidBody/Wm4PolyhedralMassProperties.pdf
+//
+// The function is an implementation of the Blow and Binstock algorithm,
+// extended for the case where the polygon is a surface (set parameter
+// solid = False).
+void Inertia::GetMassCenterInertiaPolyhedron(const vector<Vector3>& vertices,
+ const vector<Triangle>& triangles,
+ float density, bool solid,
+ float& mass, Vector3& center, InertiaMatrix &inertia)
+{
+ // 120 times the covariance matrix of the canonical tetrahedron
+ // (0,0,0),(1,0,0),(0,1,0),(0,0,1)
+ // integrate(integrate(integrate(z*z, x=0..1-y-z), y=0..1-z), z=0..1) = 1/120
+ // integrate(integrate(integrate(y*z, x=0..1-y-z), y=0..1-z), z=0..1) = 1/60
+ Matrix33 covariance_canonical( 2.0f, 1.0f, 1.0f,
+ 1.0f, 2.0f, 1.0f,
+ 1.0f, 1.0f, 2.0f );
+ float covariance_correction = 1.0f/120.0f;
+
+ vector<Matrix44> covariances;
+ vector<float> masses;
+ vector<Vector3> centers;
+
+ // for each triangle
+ // construct a tetrahedron from triangle + (0,0,0)
+ // find its matrix, mass, and center (for density = 1, will be corrected at
+ // the end of the algorithm)
+ for (vector<Triangle>::const_iterator itr=triangles.begin(), end=triangles.end(); itr != end; ++itr)
+ {
+ // get vertices
+ const Vector3& vert0 = vertices[ (*itr)[0] ];
+ const Vector3& vert1 = vertices[ (*itr)[1] ];
+ const Vector3& vert2 = vertices[ (*itr)[2] ];
+
+ // construct a transform matrix that converts the canonical tetrahedron
+ // into (0,0,0),vert0,vert1,vert2
+ Matrix44 transform_transposed(Matrix33(
+ vert0[0], vert0[1], vert0[2],
+ vert1[0], vert1[1], vert1[2],
+ vert2[0], vert2[1], vert2[2]));
+ Matrix44 transform = transform_transposed.Transpose();
+
+ // find the covariance matrix of the transformed tetrahedron/triangle
+ if (solid)
+ {
+ // we shall be needing the determinant more than once, so
+ // precalculate it
+ float determinant = transform.Determinant();
+
+ // C' = det(A) * A * C * A^T
+ covariances.push_back( transform * covariance_canonical * transform_transposed * determinant );
+ // m = det(A) / 6.0
+ masses.push_back(determinant / 6.0f);
+ // find center of gravity of the tetrahedron
+ centers.push_back(
+ Vector3(0.25f * (vert0[0] + vert1[0] + vert2[0]),
+ 0.25f * (vert0[1] + vert1[1] + vert2[1]),
+ 0.25f * (vert0[2] + vert1[2] + vert2[2]))
+ );
+ } else {
+ // find center of gravity of the triangle
+ Vector3 com( (vert0[0] + vert1[0] + vert2[0]) / 3.0f,
+ (vert0[1] + vert1[1] + vert2[1]) / 3.0f,
+ (vert0[2] + vert1[2] + vert2[2]) / 3.0f);
+ centers.push_back( com );
+
+ // find mass of triangle
+ // mass is surface, which is half the norm of cross product
+ // of two edges
+ float calc_mass = ((vert1 - vert0) ^ (vert2 - vert0)).Magnitude() / 2.0f;
+ masses.push_back( calc_mass );
+
+ // find covariance at center of this triangle
+ // (this is approximate only as it replaces triangle with point mass
+ // TODO: find better way)
+ Matrix33 calc_c( com[0]*com[0], com[0]*com[1], com[0]*com[2],
+ com[1]*com[0], com[1]*com[1], com[1]*com[2],
+ com[2]*com[0], com[2]*com[1], com[2]*com[2]);
+ covariances.push_back( Matrix44(calc_c) );
+ }
+ }
+ // accumulate the results
+ mass = std::accumulate(masses.begin(), masses.end(), 0.0f);
+ if (mass < 0.0001f)
+ {
+ // dimension is probably badly chosen
+ //raise ZeroDivisionError("mass is zero (consider calculating inertia with a lower dimension)")
+ //printf("WARNING: mass is zero");
+ mass = 0.0f;
+ center = Vector3();
+ inertia = InertiaMatrix::IDENTITY;
+ return;
+ }
+
+ // weighed average of centers with masses
+ center = Vector3();
+ for (size_t i = 0; i<masses.size(); ++i)
+ center += (centers[i] * (masses[i] / mass) );
+
+ // add covariances, and correct the values
+ Matrix44 total_covariance;
+ if (solid)
+ {
+ for (size_t i = 0; i<covariances.size(); ++i)
+ total_covariance *= covariances[i];
+ }
+
+
+ // translate covariance to center of gravity:
+ // C' = C - m * ( x dx^T + dx x^T + dx dx^T )
+ // with x the translation vector and dx the center of gravity
+
+ Matrix44 translate_correction(
+ Matrix33( center[0]*center[0], center[0]*center[1], center[0]*center[2],
+ center[1]*center[0], center[1]*center[1], center[1]*center[2],
+ center[2]*center[0], center[2]*center[1], center[2]*center[2]
+ )
+ );
+ translate_correction *= mass;
+
+ total_covariance = total_covariance - translate_correction;
+
+ // convert covariance matrix into inertia tensor
+ float trace = total_covariance[0][0] + total_covariance[1][1] + total_covariance[2][2];
+ Matrix44 trace_matrix;
+ trace_matrix[0][0] = trace_matrix[1][1] = trace_matrix[2][2] = trace;
+
+ // correct for given density
+ inertia = InertiaMatrix((trace_matrix - total_covariance).GetRotation()) * density;
+ mass *= density;
+}
\ No newline at end of file
diff --git a/src/NIF_IO.cpp b/src/NIF_IO.cpp
index 96ec1b20..91d24d38 100644
--- a/src/NIF_IO.cpp
+++ b/src/NIF_IO.cpp
@@ -837,5 +837,22 @@ ostream & operator<<( ostream & out, Char8String const & val ) {
return out;
}
+//InertiaMatrix
+void NifStream( InertiaMatrix & val, istream& in, const NifInfo & info ) {
+ for (int c = 0; c < 3; ++c) {
+ for (int r = 0; r < 4; ++r) {
+ val[r][c] = ReadFloat( in );
+ }
+ }
+}
+
+void NifStream( InertiaMatrix const & val, ostream& out, const NifInfo & info ) {
+ for (int c = 0; c < 3; ++c) {
+ for (int r = 0; r < 4; ++r) {
+ WriteFloat( val[r][c], out );
+ }
+ }
+}
+
}
\ No newline at end of file
diff --git a/src/gen/InertiaMatrix.cpp b/src/gen/InertiaMatrix.cpp
deleted file mode 100644
index 5fc8a753..00000000
--- a/src/gen/InertiaMatrix.cpp
+++ /dev/null
@@ -1,37 +0,0 @@
-/* Copyright (c) 2006, NIF File Format Library and Tools
-All rights reserved. Please see niflib.h for license. */
-
-//---THIS FILE WAS AUTOMATICALLY GENERATED. DO NOT EDIT---//
-
-//To change this file, alter the niftools/docsys/gen_niflib.py Python script.
-
-#include "../../include/gen/InertiaMatrix.h"
-using namespace Niflib;
-
-//Constructor
-InertiaMatrix::InertiaMatrix() : m11(0.0f), m12(0.0f), m13(0.0f), m14(0.0f), m21(0.0f), m22(0.0f), m23(0.0f), m24(0.0f), m31(0.0f), m32(0.0f), m33(0.0f), m34(0.0f) {};
-
-//Copy Constructor
-InertiaMatrix::InertiaMatrix( const InertiaMatrix & src ) {
- *this = src;
-};
-
-//Copy Operator
-InertiaMatrix & InertiaMatrix::operator=( const InertiaMatrix & src ) {
- this->m11 = src.m11;
- this->m12 = src.m12;
- this->m13 = src.m13;
- this->m14 = src.m14;
- this->m21 = src.m21;
- this->m22 = src.m22;
- this->m23 = src.m23;
- this->m24 = src.m24;
- this->m31 = src.m31;
- this->m32 = src.m32;
- this->m33 = src.m33;
- this->m34 = src.m34;
- return *this;
-};
-
-//Destructor
-InertiaMatrix::~InertiaMatrix() {};
diff --git a/src/nif_math.cpp b/src/nif_math.cpp
index 9ee0ca01..d368a2f2 100644
--- a/src/nif_math.cpp
+++ b/src/nif_math.cpp
@@ -19,6 +19,11 @@ const Matrix33 Matrix33::IDENTITY( 1.0f, 0.0f, 0.0f,
const Matrix22 Matrix22::IDENTITY( 1.0f, 0.0f,
0.0f, 1.0f );
+const InertiaMatrix InertiaMatrix::IDENTITY(
+ 1.0f, 0.0f, 0.0f, 0.0f,
+ 0.0f, 1.0f, 0.0f, 0.0f,
+ 0.0f, 0.0f, 1.0f, 0.0f );
+
/* TexCoord Methods
*
*/
@@ -124,6 +129,24 @@ bool Vector3::operator!=( const Vector3 & rh) const {
return true;
}
+float & Vector3::operator[](int n) {
+ switch (n) {
+ case 0: return x; break;
+ case 1: return y; break;
+ case 2: return z; break;
+ default: throw std::out_of_range("Index out of range for Vector3");
+ };
+}
+
+float Vector3::operator[](int n) const {
+ switch (n) {
+ case 0: return x; break;
+ case 1: return y; break;
+ case 2: return z; break;
+ default: throw std::out_of_range("Index out of range for Vector3");
+ };
+}
+
float Vector3::DotProduct( const Vector3 & rh) const {
return x * rh.x + y * rh.y + z * rh.z;
}
@@ -475,6 +498,19 @@ Matrix44 & Matrix44::operator+=( const Matrix44 & rh ) {
return *this;
}
+Matrix44 Matrix44::operator-( const Matrix44 & rh ) const {
+ return Matrix44(*this) -= rh;
+}
+
+Matrix44 & Matrix44::operator-=( const Matrix44 & rh ) {
+ for (int i = 0; i < 4; i++) {
+ for (int j = 0; j < 4; j++) {
+ (*this)[i][j] -= rh[i][j];
+ }
+ }
+ return *this;
+}
+
Matrix44 & Matrix44::operator=( const Matrix44 & rh ) {
memcpy(rows, rh.rows, sizeof(Float4) * 4);
return *this;
@@ -623,6 +659,157 @@ Matrix33 Quaternion::AsMatrix() {
return m;
}
+
+/*
+* InertiaMatrix Methods
+*/
+
+InertiaMatrix::InertiaMatrix() {
+ *this = InertiaMatrix::IDENTITY;
+}
+
+InertiaMatrix::InertiaMatrix( const Matrix33 & r ) {
+ //Set this matrix with rotate and translate information
+ InertiaMatrix & m = *this;
+ m[0][0] = r[0][0]; m[0][1] = r[0][1]; m[0][2] = r[0][2]; m[0][3] = 0.0f;
+ m[1][0] = r[1][0]; m[1][1] = r[1][1]; m[1][2] = r[1][2]; m[1][3] = 0.0f;
+ m[2][0] = r[2][0]; m[2][1] = r[2][1]; m[2][2] = r[2][2]; m[2][3] = 0.0f;
+}
+
+InertiaMatrix InertiaMatrix::operator*( const InertiaMatrix & rh ) const {
+ return InertiaMatrix(*this) *= rh;
+}
+
+InertiaMatrix & InertiaMatrix::operator*=( const InertiaMatrix & rh ) {
+ InertiaMatrix r;
+ InertiaMatrix & lh = *this;
+ float t;
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 4; j++) {
+ t = 0.0f;
+ for (int k = 0; k < 4; k++) {
+ t += lh[i][k] * rh[k][j];
+ }
+ r[i][j] = t;
+ }
+ }
+
+ *this = r;
+ return *this;
+}
+
+InertiaMatrix InertiaMatrix::operator*( float rh ) const {
+ return InertiaMatrix(*this) *= rh;
+}
+
+InertiaMatrix & InertiaMatrix::operator*=( float rh ) {
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 4; j++) {
+ (*this)[i][j] *= rh;
+ }
+ }
+ return *this;
+}
+
+Vector3 InertiaMatrix::operator*( const Vector3 & rh ) const {
+ const InertiaMatrix & t = *this;
+ Vector3 v;
+ //Multiply, ignoring w
+ v.x = rh.x * t[0][0] + rh.y * t[1][0] + rh.z * t[2][0];
+ v.y = rh.x * t[0][1] + rh.y * t[1][1] + rh.z * t[2][1];
+ v.z = rh.x * t[0][2] + rh.y * t[1][2] + rh.z * t[2][2];
+ return v;
+}
+
+InertiaMatrix InertiaMatrix::operator+( const InertiaMatrix & rh ) const {
+ return InertiaMatrix(*this) += rh;
+}
+
+InertiaMatrix & InertiaMatrix::operator+=( const InertiaMatrix & rh ) {
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 4; j++) {
+ (*this)[i][j] += rh[i][j];
+ }
+ }
+ return *this;
+}
+
+InertiaMatrix & InertiaMatrix::operator=( const InertiaMatrix & rh ) {
+ memcpy(rows, rh.rows, sizeof(Float4) * 4);
+ return *this;
+}
+
+bool InertiaMatrix::operator==( const InertiaMatrix & rh ) const {
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 4; j++) {
+ if ( (*this)[i][j] != rh[i][j] )
+ return false;
+ }
+ }
+ return true;
+}
+
+bool InertiaMatrix::operator!=( const InertiaMatrix & rh ) const {
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 4; j++) {
+ if ( (*this)[i][j] != rh[i][j] )
+ return true;
+ }
+ }
+ return false;
+}
+
+InertiaMatrix InertiaMatrix::Transpose() const {
+ const InertiaMatrix & t = *this;
+ return InertiaMatrix( t[0][0], t[1][0], t[2][0], t[3][0],
+ t[0][1], t[1][1], t[2][1], t[3][1],
+ t[0][2], t[1][2], t[2][2], t[3][2]);
+}
+
+Matrix33 InertiaMatrix::Submatrix( int skip_r, int skip_c ) const {
+ Matrix33 sub;
+ int i = 0, j = 0;
+ for (int r = 0; r < 3; r++) {
+ if (r == skip_r)
+ continue;
+ for (int c = 0; c < 4; c++) {
+ if (c == skip_c)
+ continue;
+ sub[i][j] = (*this)[r][c];
+ j++;
+ }
+ i++;
+ j = 0;
+ }
+ return sub;
+}
+
+float InertiaMatrix::Adjoint( int skip_r, int skip_c ) const {
+ Matrix33 sub = Submatrix( skip_r, skip_c );
+ return pow(-1.0f, float(skip_r + skip_c)) * sub.Determinant();
+}
+
+InertiaMatrix InertiaMatrix::Inverse() const {
+ InertiaMatrix result;
+
+ float det = Determinant();
+ for (int r = 0; r < 3; r++) {
+ for (int c = 0; c < 4; c++) {
+ result[c][r] = Adjoint(r, c) / det;
+ }
+ }
+
+ return result;
+}
+
+float InertiaMatrix::Determinant() const {
+ const InertiaMatrix & t = *this;
+ return t[0][0] * Submatrix(0, 0).Determinant()
+ - t[0][1] * Submatrix(0, 1).Determinant()
+ + t[0][2] * Submatrix(0, 2).Determinant()
+ - t[0][3] * Submatrix(0, 3).Determinant();
+}
+
/*
* ostream functions for printing with cout
*/
@@ -686,4 +873,13 @@ ostream & operator<<( ostream & out, Color4 const & val ) {
ostream & operator<<( ostream & out, Quaternion const & val ) {
return out << "[" << setw(6) << val.w << ",(" << setw(6) << val.x << "," << setw(6) << val.y << "," << setw(6) << val.z << ")]";
}
+
+ostream & operator<<( ostream & out, InertiaMatrix const & val ) {
+ out << endl
+ << " |" << setw(6) << val[0][0] << "," << setw(6) << val[0][1] << "," << setw(6) << val[0][2] << "," << setw(6) << val[0][3] << " |" << endl
+ << " |" << setw(6) << val[1][0] << "," << setw(6) << val[1][1] << "," << setw(6) << val[1][2] << "," << setw(6) << val[1][3] << " |" << endl
+ << " |" << setw(6) << val[2][0] << "," << setw(6) << val[2][1] << "," << setw(6) << val[2][2] << "," << setw(6) << val[2][3] << " |";
+ return out;
+}
+
}
diff --git a/src/obj/NiMorphData.cpp b/src/obj/NiMorphData.cpp
index ef544290..09322294 100644
--- a/src/obj/NiMorphData.cpp
+++ b/src/obj/NiMorphData.cpp
@@ -20,7 +20,7 @@ using namespace Niflib;
//Definition of TYPE constant
const Type NiMorphData::TYPE("NiMorphData", &NiObject::TYPE );
-NiMorphData::NiMorphData() : numMorphs((unsigned int)0), numVertices((unsigned int)0), relativeTargets(1) {
+NiMorphData::NiMorphData() : numMorphs((unsigned int)0), numVertices((unsigned int)0), relativeTargets((byte)1) {
//--BEGIN CONSTRUCTOR CUSTOM CODE--//
//--END CUSTOM CODE--//
}
diff --git a/src/obj/bhkBoxShape.cpp b/src/obj/bhkBoxShape.cpp
index ee085848..86eb94a2 100644
--- a/src/obj/bhkBoxShape.cpp
+++ b/src/obj/bhkBoxShape.cpp
@@ -8,6 +8,7 @@ All rights reserved. Please see niflib.h for license. */
//-----------------------------------NOTICE----------------------------------//
//--BEGIN FILE HEAD CUSTOM CODE--//
+#include "../../include/Inertia.h"
//--END CUSTOM CODE--//
#include "../../include/FixLink.h"
@@ -121,4 +122,9 @@ void bhkBoxShape::SetDimensions(const Vector3 &value) {
minimumSize = min( min(value.x, value.y), value.z );
}
+void bhkBoxShape::CalcMassCenterInertia( float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia )
+{
+ center = Vector3(0,0,0);
+ Inertia::GetMassInertiaBox( dimensions * 2.0f, density, solid, mass, inertia );
+}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkBvTreeShape.cpp b/src/obj/bhkBvTreeShape.cpp
index b0741761..d115e160 100644
--- a/src/obj/bhkBvTreeShape.cpp
+++ b/src/obj/bhkBvTreeShape.cpp
@@ -86,5 +86,12 @@ std::list<NiObjectRef> bhkBvTreeShape::GetRefs() const {
return refs;
}
+void bhkBvTreeShape::CalcMassCenterInertia( float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia )
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+}
+
//--BEGIN MISC CUSTOM CODE--//
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkCapsuleShape.cpp b/src/obj/bhkCapsuleShape.cpp
index eb27e286..66d6face 100644
--- a/src/obj/bhkCapsuleShape.cpp
+++ b/src/obj/bhkCapsuleShape.cpp
@@ -8,6 +8,7 @@ All rights reserved. Please see niflib.h for license. */
//-----------------------------------NOTICE----------------------------------//
//--BEGIN FILE HEAD CUSTOM CODE--//
+#include "../../include/Inertia.h"
//--END CUSTOM CODE--//
#include "../../include/FixLink.h"
@@ -158,4 +159,19 @@ void bhkCapsuleShape::SetRadius2( float value ) {
radius2 = value;
}
+/*! Helper routine for calculating mass properties.
+* \param[in] density Uniform density of object
+* \param[in] solid Determines whether the object is assumed to be solid or not
+* \param[out] mass Calculated mass of the object
+* \param[out] center Center of mass
+* \param[out] inertia Mass Inertia Tensor
+* \return Return mass, center, and inertia tensor.
+*/
+void bhkCapsuleShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = Vector3();
+ float height = (secondPoint - firstPoint).Magnitude();
+ Inertia::GetMassInertiaCapsule(radius, height, density, solid, mass, inertia);
+}
+
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkConvexShape.cpp b/src/obj/bhkConvexShape.cpp
index c2e93ef4..b762579b 100644
--- a/src/obj/bhkConvexShape.cpp
+++ b/src/obj/bhkConvexShape.cpp
@@ -87,4 +87,12 @@ std::list<NiObjectRef> bhkConvexShape::GetRefs() const {
}
//--BEGIN MISC CUSTOM CODE--//
+
+void bhkConvexShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+}
+
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkConvexTransformShape.cpp b/src/obj/bhkConvexTransformShape.cpp
index 2bd655b8..2cfb3476 100644
--- a/src/obj/bhkConvexTransformShape.cpp
+++ b/src/obj/bhkConvexTransformShape.cpp
@@ -87,4 +87,12 @@ std::list<NiObjectRef> bhkConvexTransformShape::GetRefs() const {
}
//--BEGIN MISC CUSTOM CODE--//
+void bhkConvexTransformShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+}
+
+
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkConvexVerticesShape.cpp b/src/obj/bhkConvexVerticesShape.cpp
index 4b242b17..d1dbcd58 100644
--- a/src/obj/bhkConvexVerticesShape.cpp
+++ b/src/obj/bhkConvexVerticesShape.cpp
@@ -8,6 +8,8 @@ All rights reserved. Please see niflib.h for license. */
//-----------------------------------NOTICE----------------------------------//
//--BEGIN FILE HEAD CUSTOM CODE--//
+#include "../../include/nifqhull.h"
+#include "../../include/Inertia.h"
//--END CUSTOM CODE--//
#include "../../include/FixLink.h"
@@ -243,5 +245,13 @@ void bhkConvexVerticesShape::SetNormalsAndDist(const vector<Vector4>& value)
normals = value;
}
-
+void bhkConvexVerticesShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+ vector<Vector3> verts = GetVertices();
+ vector<Triangle> tris = NifQHull::compute_convex_hull(verts);
+ Inertia::GetMassCenterInertiaPolyhedron(verts, tris, density, solid, mass, center, inertia);
+}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkListShape.cpp b/src/obj/bhkListShape.cpp
index ce10aeac..b01268fc 100644
--- a/src/obj/bhkListShape.cpp
+++ b/src/obj/bhkListShape.cpp
@@ -198,4 +198,29 @@ void bhkListShape::SetSubShapes(const vector<Ref<bhkShape > >& shapes) {
unknownInts.resize(subShapes.size(), 0);
}
+void bhkListShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+
+ vector<float> masses;
+ vector<Vector3> centers;
+ vector<InertiaMatrix> inertias;
+ for (vector<bhkShapeRef>::iterator itr = subShapes.begin(); itr != subShapes.end(); ++itr)
+ {
+ float m; Vector3 c; InertiaMatrix i;
+ (*itr)->CalcMassCenterInertia(density, solid, m, c, i);
+ masses.push_back(m);
+ centers.push_back(c);
+ inertias.push_back(i);
+ mass += m;
+ }
+
+ // TODO: doubt this inertia calculation is even remotely close
+ for (size_t i=0; i < masses.size(); ++i) {
+ center += centers[i] * (masses[i] / mass);
+ inertia *= inertias[i];
+ }
+}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkMoppBvTreeShape.cpp b/src/obj/bhkMoppBvTreeShape.cpp
index 2df51bd5..189b17c7 100644
--- a/src/obj/bhkMoppBvTreeShape.cpp
+++ b/src/obj/bhkMoppBvTreeShape.cpp
@@ -200,4 +200,14 @@ void bhkMoppBvTreeShape::SetMoppScale( float value ) {
scale = value;
}
+void bhkMoppBvTreeShape::CalcMassCenterInertia( float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia )
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+
+ if (shape != NULL)
+ shape->CalcMassCenterInertia(density, solid, mass, center, inertia);
+}
+
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkMultiSphereShape.cpp b/src/obj/bhkMultiSphereShape.cpp
index eb8bea24..da68b33f 100644
--- a/src/obj/bhkMultiSphereShape.cpp
+++ b/src/obj/bhkMultiSphereShape.cpp
@@ -126,4 +126,11 @@ void bhkMultiSphereShape::SetSpheres( const vector<SphereBV >& value ) {
spheres = value;
}
+void bhkMultiSphereShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ // TODO: Calculate this properly
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkNiTriStripsShape.cpp b/src/obj/bhkNiTriStripsShape.cpp
index b12d2f21..6e0aa018 100644
--- a/src/obj/bhkNiTriStripsShape.cpp
+++ b/src/obj/bhkNiTriStripsShape.cpp
@@ -8,6 +8,7 @@ All rights reserved. Please see niflib.h for license. */
//-----------------------------------NOTICE----------------------------------//
//--BEGIN FILE HEAD CUSTOM CODE--//
+#include "../../include/Inertia.h"
//--END CUSTOM CODE--//
#include "../../include/FixLink.h"
@@ -257,4 +258,24 @@ void bhkNiTriStripsShape::SetOblivionFilter( unsigned int index, unsigned char f
dataLayers[index].colFilter = filter;
}
+void bhkNiTriStripsShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+
+ vector<Vector3> verts;
+ vector<Triangle> tris;
+ for ( vector<NiTriStripsDataRef>::iterator itr = stripsData.begin(); itr != stripsData.end(); ++itr )
+ {
+ size_t nv = verts.size(), nt = tris.size();
+ vector<Vector3> v = (*itr)->GetVertices();
+ vector<Triangle> t = (*itr)->GetTriangles();
+ for (size_t i=0; i<nv; ++i)
+ verts.push_back( v[i] );
+ for (size_t i=0; i<nt; ++i)
+ tris.push_back( Triangle(t[i][0] + nt, t[i][1] + nt, t[i][2] + nt) );
+ }
+ Inertia::GetMassCenterInertiaPolyhedron(verts, tris, density, solid, mass, center, inertia);
+}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkPackedNiTriStripsShape.cpp b/src/obj/bhkPackedNiTriStripsShape.cpp
index 4e488b13..a6791005 100644
--- a/src/obj/bhkPackedNiTriStripsShape.cpp
+++ b/src/obj/bhkPackedNiTriStripsShape.cpp
@@ -8,6 +8,7 @@ All rights reserved. Please see niflib.h for license. */
//-----------------------------------NOTICE----------------------------------//
//--BEGIN FILE HEAD CUSTOM CODE--//
+#include "../../include/Inertia.h"
//--END CUSTOM CODE--//
#include "../../include/FixLink.h"
@@ -181,5 +182,17 @@ void bhkPackedNiTriStripsShape::SetSubShapes( vector<OblivionSubShape>& value )
subShapes = value;
}
-
+void bhkPackedNiTriStripsShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+
+ if (data != NULL)
+ {
+ vector<Vector3> verts = data->GetVertices();
+ vector<Triangle> tris = data->GetTriangles();
+ Inertia::GetMassCenterInertiaPolyhedron(verts, tris, density, solid, mass, center, inertia);
+ }
+}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkRigidBody.cpp b/src/obj/bhkRigidBody.cpp
index de3b84a7..f89c8abb 100644
--- a/src/obj/bhkRigidBody.cpp
+++ b/src/obj/bhkRigidBody.cpp
@@ -8,6 +8,7 @@ All rights reserved. Please see niflib.h for license. */
//-----------------------------------NOTICE----------------------------------//
//--BEGIN FILE HEAD CUSTOM CODE--//
+#include "../../include/obj/bhkShape.h"
//--END CUSTOM CODE--//
#include "../../include/FixLink.h"
@@ -15,7 +16,6 @@ All rights reserved. Please see niflib.h for license. */
#include "../../include/NIF_IO.h"
#include "../../include/obj/bhkRigidBody.h"
#include "../../include/gen/QuaternionXYZW.h"
-#include "../../include/gen/InertiaMatrix.h"
#include "../../include/obj/bhkConstraint.h"
using namespace Niflib;
@@ -69,18 +69,7 @@ void bhkRigidBody::Read( istream& in, list<unsigned int> & link_stack, const Nif
NifStream( rotation.w, in, info );
NifStream( linearVelocity, in, info );
NifStream( angularVelocity, in, info );
- NifStream( inertia.m11, in, info );
- NifStream( inertia.m12, in, info );
- NifStream( inertia.m13, in, info );
- NifStream( inertia.m14, in, info );
- NifStream( inertia.m21, in, info );
- NifStream( inertia.m22, in, info );
- NifStream( inertia.m23, in, info );
- NifStream( inertia.m24, in, info );
- NifStream( inertia.m31, in, info );
- NifStream( inertia.m32, in, info );
- NifStream( inertia.m33, in, info );
- NifStream( inertia.m34, in, info );
+ NifStream( inertia, in, info );
NifStream( center, in, info );
NifStream( mass, in, info );
NifStream( linearDamping, in, info );
@@ -138,18 +127,7 @@ void bhkRigidBody::Write( ostream& out, const map<NiObjectRef,unsigned int> & li
NifStream( rotation.w, out, info );
NifStream( linearVelocity, out, info );
NifStream( angularVelocity, out, info );
- NifStream( inertia.m11, out, info );
- NifStream( inertia.m12, out, info );
- NifStream( inertia.m13, out, info );
- NifStream( inertia.m14, out, info );
- NifStream( inertia.m21, out, info );
- NifStream( inertia.m22, out, info );
- NifStream( inertia.m23, out, info );
- NifStream( inertia.m24, out, info );
- NifStream( inertia.m31, out, info );
- NifStream( inertia.m32, out, info );
- NifStream( inertia.m33, out, info );
- NifStream( inertia.m34, out, info );
+ NifStream( inertia, out, info );
NifStream( center, out, info );
NifStream( mass, out, info );
NifStream( linearDamping, out, info );
@@ -242,18 +220,7 @@ std::string bhkRigidBody::asString( bool verbose ) const {
out << " w: " << rotation.w << endl;
out << " Linear Velocity: " << linearVelocity << endl;
out << " Angular Velocity: " << angularVelocity << endl;
- out << " m11: " << inertia.m11 << endl;
- out << " m12: " << inertia.m12 << endl;
- out << " m13: " << inertia.m13 << endl;
- out << " m14: " << inertia.m14 << endl;
- out << " m21: " << inertia.m21 << endl;
- out << " m22: " << inertia.m22 << endl;
- out << " m23: " << inertia.m23 << endl;
- out << " m24: " << inertia.m24 << endl;
- out << " m31: " << inertia.m31 << endl;
- out << " m32: " << inertia.m32 << endl;
- out << " m33: " << inertia.m33 << endl;
- out << " m34: " << inertia.m34 << endl;
+ out << " Inertia: " << inertia << endl;
out << " Center: " << center << endl;
out << " Mass: " << mass << endl;
out << " Linear Damping: " << linearDamping << endl;
@@ -355,36 +322,12 @@ void bhkRigidBody::SetAngularVelocity( const Vector4 & value ) {
angularVelocity = value;
}
-array<12,float> bhkRigidBody::GetInertia() const {
- array<12, float> result;
- result[0] = inertia.m11;
- result[1] = inertia.m12;
- result[2] = inertia.m13;
- result[3] = inertia.m14;
- result[4] = inertia.m21;
- result[5] = inertia.m22;
- result[6] = inertia.m23;
- result[7] = inertia.m24;
- result[8] = inertia.m31;
- result[9] = inertia.m32;
- result[10] = inertia.m33;
- result[11] = inertia.m34;
- return result;
-}
-
-void bhkRigidBody::SetInertia( const array<12,float>& value ) {
- inertia.m11 = value[0];
- inertia.m12 = value[1];
- inertia.m13 = value[2];
- inertia.m14 = value[3];
- inertia.m21 = value[4];
- inertia.m22 = value[5];
- inertia.m23 = value[6];
- inertia.m24 = value[7];
- inertia.m31 = value[8];
- inertia.m32 = value[9];
- inertia.m33 = value[10];
- inertia.m34 = value[11];
+InertiaMatrix bhkRigidBody::GetInertia() const {
+ return inertia;
+}
+
+void bhkRigidBody::SetInertia( const InertiaMatrix& value ) {
+ inertia = value;
}
Vector4 bhkRigidBody::GetCenter() const {
@@ -491,4 +434,45 @@ void bhkRigidBody::SetSolverDeactivation( const SolverDeactivation & value ) {
solverDeactivation = value;
}
+
+
+// Apply scale factor <scale> on data.
+void bhkRigidBody::ApplyScale(float scale)
+{
+ // apply scale on transform
+ translation *= scale;
+
+ // apply scale on center of gravity
+ center *= scale;
+
+ // apply scale on inertia tensor
+ inertia *= pow(scale, 2.0f);
+
+ //# apply scale on all blocks down the hierarchy
+ //ApplyScale(scale)
+}
+
+void bhkRigidBody::UpdateMassCenterInertia(float density, bool solid, float mass)
+{
+ // Look at all the objects under this rigid body and update the mass
+ // center of gravity, and inertia tensor accordingly. If the C{mass} parameter
+ // is given then the C{density} argument is ignored.
+
+ if (mass != 0.0f)
+ density = 1.0f;
+
+ if (shape != NULL)
+ {
+ Vector3 com;
+ shape->CalcMassCenterInertia(density, solid, this->mass, com, inertia);
+ center = com;
+ if (mass != 0.0f)
+ {
+ float mass_correction = (this->mass != 0.0f) ? mass / this->mass : 1.0f;
+ this->mass = mass;
+ inertia *= mass_correction;
+ }
+ }
+}
+
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkShape.cpp b/src/obj/bhkShape.cpp
index 468065a7..fdfac180 100644
--- a/src/obj/bhkShape.cpp
+++ b/src/obj/bhkShape.cpp
@@ -87,4 +87,11 @@ std::list<NiObjectRef> bhkShape::GetRefs() const {
}
//--BEGIN MISC CUSTOM CODE--//
+
+void bhkShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkSphereRepShape.cpp b/src/obj/bhkSphereRepShape.cpp
index 0e7bc31e..3bc83d8d 100644
--- a/src/obj/bhkSphereRepShape.cpp
+++ b/src/obj/bhkSphereRepShape.cpp
@@ -8,6 +8,7 @@ All rights reserved. Please see niflib.h for license. */
//-----------------------------------NOTICE----------------------------------//
//--BEGIN FILE HEAD CUSTOM CODE--//
+#include "../../include/Inertia.h"
//--END CUSTOM CODE--//
#include "../../include/FixLink.h"
@@ -110,5 +111,12 @@ void bhkSphereRepShape::SetRadius( float value ) {
radius = value;
}
+void bhkSphereRepShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+ Inertia::GetMassInertiaSphere(radius, density, solid, mass, inertia);
+}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkSphereShape.cpp b/src/obj/bhkSphereShape.cpp
index 61a06172..c0c378e1 100644
--- a/src/obj/bhkSphereShape.cpp
+++ b/src/obj/bhkSphereShape.cpp
@@ -8,6 +8,7 @@ All rights reserved. Please see niflib.h for license. */
//-----------------------------------NOTICE----------------------------------//
//--BEGIN FILE HEAD CUSTOM CODE--//
+#include "../../include/Inertia.h"
//--END CUSTOM CODE--//
#include "../../include/FixLink.h"
@@ -96,4 +97,11 @@ void bhkSphereShape::SetRadius( float value ) {
radius = value;
}
+void bhkSphereShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = Vector3(0,0,0);
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+ Inertia::GetMassInertiaSphere(radius, density, solid, mass, inertia);
+}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkTransformShape.cpp b/src/obj/bhkTransformShape.cpp
index f98afa07..33fba51a 100644
--- a/src/obj/bhkTransformShape.cpp
+++ b/src/obj/bhkTransformShape.cpp
@@ -156,4 +156,20 @@ void bhkTransformShape::SetTransform(const Matrix44 & value ) {
transform = value;
}
+void bhkTransformShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+{
+ center = transform.GetTranslation();
+ mass = 0.0f;
+ inertia = InertiaMatrix::IDENTITY;
+ if (shape != NULL)
+ {
+ Matrix44 transform_transposed = transform.Transpose();
+ shape->CalcMassCenterInertia(density, solid, mass, center, inertia);
+ center = transform * center;
+
+ Matrix44 tm(inertia.Submatrix(0, 0));
+ Matrix44 im = transform_transposed * tm * transform;
+ inertia = InertiaMatrix(im.GetRotation());
+ }
+}
//--END CUSTOM CODE--//
--
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