niflib: Add InertiaMatrix as first class niflib type. Add qhull to niflib....

niflib:  Add InertiaMatrix as first class niflib type. Add qhull to niflib. Add UpdateMassCenterInertia to bhkRigidBody and supporing bhkShape objects.

include/Inertia.h

+/* 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

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--//
 

include/gen/InertiaMatrix.h

-/* 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

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

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:

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 protected:
 	/*! Unknown. */

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 &center, InertiaMatrix& inertia);
+
 	//--BEGIN MISC CUSTOM CODE--//
 	//--END CUSTOM CODE--//
 public:

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 protected:
 	/*! Unknown. */

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 public:
 	/*! NIFLIB_HIDDEN function.  For internal use only. */

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 public:
 	/*! NIFLIB_HIDDEN function.  For internal use only. */

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 protected:
 	/*!

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 protected:
 	/*! The number of sub shapes referenced. */

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 protected:
 	/*! The shape. */

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 protected:
 	/*! Unknown. */

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 protected:
 	/*! The shape's material. */

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 protected:
 	/*! Number of subparts. */

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:

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 public:
 	/*! NIFLIB_HIDDEN function.  For internal use only. */

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 protected:
 	/*! The shape's material. */

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 &center, InertiaMatrix& inertia);
+
 	//--END CUSTOM CODE--//
 public:
 	/*! NIFLIB_HIDDEN function.  For internal use only. */