diff --git a/include/Inertia.h b/include/Inertia.h
index a9c38c0be129f9874647ec456d8b40c89dab4ff6..3b4418ab59747be589a63181a82a05b04cdaf521 100644
--- a/include/Inertia.h
+++ b/include/Inertia.h
@@ -17,36 +17,120 @@ 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);
+ static void CalcMassPropertiesSphere(
+ float radius,
+ float density, bool solid,
+ float& mass, float& volume, Vector3& center, 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);
+ static void CalcMassPropertiesBox(
+ Vector3 size,
+ float density, bool solid,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
/*! Return mass and inertia matrix for a cylinder of given radius,
* height and density.
*/
- static void GetMassInertiaCylinder(float radius, float height,
+ static void CalcMassPropertiesCylinder(
+ Vector3 startAxis, Vector3 endAxis, float radius,
float density, bool solid,
- float& mass, InertiaMatrix &inertia);
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
/*! Return mass and inertia matrix for a capsule of given radius,
* height and density.
*/
- static void GetMassInertiaCapsule(float radius, float height,
+ static void CalcMassPropertiesCapsule(
+ Vector3 startAxis, Vector3 endAxis, float radius,
float density, bool solid,
- float& mass, InertiaMatrix &inertia);
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
- /*! Return mass and inertia matrix for a capsule of given radius,
- * height and density.
+ /*! Return mass and inertia matrix for a complex polyhedron
*/
- static void GetMassCenterInertiaPolyhedron(
- const std::vector<Niflib::Vector3>& vertices,
- const std::vector<Niflib::Triangle>& triangles,
+ static void CalcMassPropertiesPolyhedron(
+ const vector<Vector3>& vertices,
+ const vector<Triangle>& triangles,
+ float density, bool solid,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
+
+ /*! Combine mass properties for a number of objects */
+ static void CombineMassProperties(
+ vector<float> masses,
+ vector<float> volumes,
+ vector<Vector3> centers,
+ vector<InertiaMatrix> inertias,
+ vector<Matrix44> transforms,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
+
+public:
+
+ // Define external strategy helpers
+
+ /*! Return mass and inertia matrix for a sphere of given radius and
+ * density.
+ */
+ typedef void (__stdcall * fnCalcMassPropertiesSphere)(
+ float radius,
+ float density, bool solid,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
+
+ /*! Return mass and inertia matrix for a box of given size and
+ * density.
+ */
+ typedef void (__stdcall * fnCalcMassPropertiesBox)(
+ Vector3 size,
+ float density, bool solid,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
+
+ /*! Return mass and inertia matrix for a cylinder of given radius,
+ * height and density.
+ */
+ typedef void (__stdcall * fnCalcMassPropertiesCylinder)(
+ Vector3 startAxis, Vector3 endAxis, float radius,
float density, bool solid,
- float& mass, Niflib::Vector3& center, InertiaMatrix &inertia);
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
+
+ /*! Return mass and inertia matrix for a capsule of given radius,
+ * height and density.
+ */
+ typedef void (__stdcall * fnCalcMassPropertiesCapsule)(
+ Vector3 startAxis, Vector3 endAxis, float radius,
+ float density, bool solid,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
+
+ /*! Return mass and inertia matrix for a capsule of given radius,
+ * height and density.
+ */
+ typedef void (__stdcall * fnCalcMassPropertiesPolyhedron)(
+ int nVerts, Vector3 const* verts,
+ int nTris, Triangle const* tris,
+ float density, bool solid,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
+
+ /*! Combine mass properties for a number of objects */
+ typedef void (__stdcall * fnCombineMassProperties)(
+ int nItems,
+ float* masses, float* volumes, Vector3* centers, InertiaMatrix* inertias, Matrix44* transforms,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia);
+
+ /*! Define external MassProperty calculation method for Sphere */
+ static void SetCalcMassPropertiesSphere(fnCalcMassPropertiesSphere extRoutine);
+
+ /*! Define external MassProperty calculation method for Box */
+ static void SetCalcMassPropertiesBox(fnCalcMassPropertiesBox extRoutine);
+
+ /*! Define external MassProperty calculation method for Cylinder */
+ static void SetCalcMassPropertiesCylinder(fnCalcMassPropertiesCylinder extRoutine);
+
+ /*! Define external MassProperty calculation method for Capsule */
+ static void SetCalcMassPropertiesCapsule(fnCalcMassPropertiesCapsule extRoutine);
+
+ /*! Define external MassProperty calculation method for Polyhedron */
+ static void SetCalcMassPropertiesPolyhedron(fnCalcMassPropertiesPolyhedron extRoutine);
+
+ /*! Define external mass property combination routine */
+ static void SetCombineMassProperties(fnCombineMassProperties extRoutine);
+
private:
explicit Inertia();
diff --git a/include/nifqhull.h b/include/nifqhull.h
new file mode 100644
index 0000000000000000000000000000000000000000..b46e91401714985a8511874205669bce874b77d6
--- /dev/null
+++ b/include/nifqhull.h
@@ -0,0 +1,24 @@
+/* Copyright (c) 2006, NIF File Format Library and Tools
+All rights reserved. Please see niflib.h for license. */
+
+#ifndef _NIF_QHULL_H
+#define _NIF_QHULL_H
+#pragma once
+
+//--Includes--//
+#include "nif_math.h"
+#include <vector>
+
+namespace Niflib {
+
+class NifQHull {
+public:
+
+ static vector<Triangle> compute_convex_hull(const vector<Vector3>& verts);
+
+private:
+ explicit NifQHull();
+};
+
+}
+#endif
\ No newline at end of file
diff --git a/include/obj/bhkBoxShape.h b/include/obj/bhkBoxShape.h
index c17851aa8d67f0e9689b653c9687bd2bed311907..fabffefeafcb898196bb433404ae6cfaf5fca6b5 100644
--- a/include/obj/bhkBoxShape.h
+++ b/include/obj/bhkBoxShape.h
@@ -74,7 +74,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
protected:
diff --git a/include/obj/bhkBvTreeShape.h b/include/obj/bhkBvTreeShape.h
index 03d8c929d3d4238ae80c18f0e24cfa6c3eac1b7e..07ef177ffcdadeaf2ef15531cbe62ebb568f70a1 100644
--- a/include/obj/bhkBvTreeShape.h
+++ b/include/obj/bhkBvTreeShape.h
@@ -61,7 +61,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--BEGIN MISC CUSTOM CODE--//
//--END CUSTOM CODE--//
diff --git a/include/obj/bhkCapsuleShape.h b/include/obj/bhkCapsuleShape.h
index 6428b717d86316a17cc074c53dd98f8efde22bd2..94cfa5781f87c474db357317a29ca7e0f2b3688b 100644
--- a/include/obj/bhkCapsuleShape.h
+++ b/include/obj/bhkCapsuleShape.h
@@ -122,7 +122,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
protected:
diff --git a/include/obj/bhkConvexShape.h b/include/obj/bhkConvexShape.h
index aec3cdb557ba8d93f9b86c1cb96ba54fe48acc21..b33d90741f830daad8ecebb3f903f6e1d146a7e1 100644
--- a/include/obj/bhkConvexShape.h
+++ b/include/obj/bhkConvexShape.h
@@ -62,7 +62,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
public:
diff --git a/include/obj/bhkConvexTransformShape.h b/include/obj/bhkConvexTransformShape.h
index 9b8864bcfe9f57550f3b24064e1dd43a54f422f1..743fdba2e6c5dee4ed4f2d04cab6f01b1545563b 100644
--- a/include/obj/bhkConvexTransformShape.h
+++ b/include/obj/bhkConvexTransformShape.h
@@ -61,7 +61,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
public:
diff --git a/include/obj/bhkConvexVerticesShape.h b/include/obj/bhkConvexVerticesShape.h
index 3155f085891eeadf991b9c5b13b318fb0538dd2a..496f7f7514fdb307f36ac94c8ca58fd510849f31 100644
--- a/include/obj/bhkConvexVerticesShape.h
+++ b/include/obj/bhkConvexVerticesShape.h
@@ -119,7 +119,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
protected:
diff --git a/include/obj/bhkListShape.h b/include/obj/bhkListShape.h
index 7d362570e837d263c26c34da478fba87762112cc..c3d3d099685d329d9fdd7ea6552271506a6844fc 100644
--- a/include/obj/bhkListShape.h
+++ b/include/obj/bhkListShape.h
@@ -99,7 +99,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
protected:
diff --git a/include/obj/bhkMoppBvTreeShape.h b/include/obj/bhkMoppBvTreeShape.h
index 8ef6c4f755e3ea3600e8054816276d1fbb777c89..3875391da1c336cfaf3dc4d0cbc4cde66771818c 100644
--- a/include/obj/bhkMoppBvTreeShape.h
+++ b/include/obj/bhkMoppBvTreeShape.h
@@ -138,7 +138,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
protected:
diff --git a/include/obj/bhkMultiSphereShape.h b/include/obj/bhkMultiSphereShape.h
index abdf67585fc9b98f8a1ac7bff8a88c845d4dbb97..b570b0e832ed1311c69ec0ce1ce2d81ad6b1105a 100644
--- a/include/obj/bhkMultiSphereShape.h
+++ b/include/obj/bhkMultiSphereShape.h
@@ -78,7 +78,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
protected:
diff --git a/include/obj/bhkNiTriStripsShape.h b/include/obj/bhkNiTriStripsShape.h
index f1a5f0b7c1158f96aea6ce9104e2124c6ddfb0ff..a32262d09744482a8653fe084047fbe357ded4a0 100644
--- a/include/obj/bhkNiTriStripsShape.h
+++ b/include/obj/bhkNiTriStripsShape.h
@@ -139,7 +139,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
protected:
diff --git a/include/obj/bhkPackedNiTriStripsShape.h b/include/obj/bhkPackedNiTriStripsShape.h
index b9326232e18f3a9a381926700c6a7a2cc6307b67..8b51d95a55b735c6f31d0fede02243d5060ec0d4 100644
--- a/include/obj/bhkPackedNiTriStripsShape.h
+++ b/include/obj/bhkPackedNiTriStripsShape.h
@@ -91,7 +91,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
protected:
diff --git a/include/obj/bhkRigidBody.h b/include/obj/bhkRigidBody.h
index b71f1f0ff83add376e884c8adfd1477db11221a4..4e9088710c108b6f133389ab49dfb483ce1c0ccb 100644
--- a/include/obj/bhkRigidBody.h
+++ b/include/obj/bhkRigidBody.h
@@ -297,7 +297,7 @@ public:
// 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);
+ NIFLIB_API void UpdateMassProperties(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 6b858a03977cd502c54425a15388256cbb8343c5..ca90737a0b51295958f33fa60a5b76fa51513e1e 100644
--- a/include/obj/bhkShape.h
+++ b/include/obj/bhkShape.h
@@ -63,7 +63,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
public:
diff --git a/include/obj/bhkSphereRepShape.h b/include/obj/bhkSphereRepShape.h
index fd08bad8992eeb9788d0f57465149ce5a7f26b1d..89eec01494a20f30b40d642f27deb5ba284162f0 100644
--- a/include/obj/bhkSphereRepShape.h
+++ b/include/obj/bhkSphereRepShape.h
@@ -89,7 +89,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
protected:
diff --git a/include/obj/bhkSphereShape.h b/include/obj/bhkSphereShape.h
index 1145b7eea82f1c561178a02e7d98d2e99772ddff..457fbdc550a87d21913f38b1de74f566c4077c2d 100644
--- a/include/obj/bhkSphereShape.h
+++ b/include/obj/bhkSphereShape.h
@@ -74,7 +74,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
public:
diff --git a/include/obj/bhkTransformShape.h b/include/obj/bhkTransformShape.h
index 34d7470d6a6ae736a35e31d1e3ee76640c845410..743955984b671d31fac7413db07a77ed5bdf60c4 100644
--- a/include/obj/bhkTransformShape.h
+++ b/include/obj/bhkTransformShape.h
@@ -102,7 +102,7 @@ public:
* \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);
+ NIFLIB_API virtual void CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia);
//--END CUSTOM CODE--//
diff --git a/src/Inertia.cpp b/src/Inertia.cpp
index 1b103488effec7447f402cc394d6594da6a21fba..ae8c8fd4186eb07de50ee8e5152e5394537ffe45 100644
--- a/src/Inertia.cpp
+++ b/src/Inertia.cpp
@@ -2,6 +2,7 @@
All rights reserved. Please see niflib.h for license. */
#include "../include/Inertia.h"
+#include "../include/nifqhull.h"
#include <vector>
#include <algorithm>
#include <functional>
@@ -10,9 +11,48 @@ All rights reserved. Please see niflib.h for license. */
#include <math.h>
using namespace Niflib;
-void Inertia::GetMassInertiaSphere(float radius, float density, bool solid,
- float& mass, InertiaMatrix &inertia)
+static Inertia::fnCalcMassPropertiesSphere extCalcMassPropertiesSphereRoutine = NULL;
+static Inertia::fnCalcMassPropertiesBox extCalcMassPropertiesBoxRoutine = NULL;
+static Inertia::fnCalcMassPropertiesCylinder extCalcMassPropertiesCylinderRoutine = NULL;
+static Inertia::fnCalcMassPropertiesCapsule extCalcMassPropertiesCapsuleRoutine = NULL;
+static Inertia::fnCalcMassPropertiesPolyhedron extCalcMassPropertiesPolyhedronRoutine = NULL;
+static Inertia::fnCombineMassProperties extCombineMassPropertiesRoutine = NULL;
+
+void Inertia::SetCalcMassPropertiesSphere(Inertia::fnCalcMassPropertiesSphere extRoutine) {
+ extCalcMassPropertiesSphereRoutine = extRoutine;
+}
+
+void Inertia::SetCalcMassPropertiesBox(Inertia::fnCalcMassPropertiesBox extRoutine) {
+ extCalcMassPropertiesBoxRoutine = extRoutine;
+}
+
+void Inertia::SetCalcMassPropertiesCylinder(Inertia::fnCalcMassPropertiesCylinder extRoutine) {
+ extCalcMassPropertiesCylinderRoutine = extRoutine;
+}
+
+void Inertia::SetCalcMassPropertiesCapsule(Inertia::fnCalcMassPropertiesCapsule extRoutine) {
+ extCalcMassPropertiesCapsuleRoutine = extRoutine;
+}
+
+void Inertia::SetCalcMassPropertiesPolyhedron(Inertia::fnCalcMassPropertiesPolyhedron extRoutine) {
+ extCalcMassPropertiesPolyhedronRoutine = extRoutine;
+}
+
+/*! Define external mass property combination routine */
+void Inertia::SetCombineMassProperties(Inertia::fnCombineMassProperties extRoutine) {
+ extCombineMassPropertiesRoutine = extRoutine;
+}
+
+
+
+void Inertia::CalcMassPropertiesSphere(float radius,
+ float density, bool solid,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia)
{
+ if (extCalcMassPropertiesSphereRoutine) {
+ extCalcMassPropertiesSphereRoutine(radius, density, solid, mass, volume, center, inertia);
+ return;
+ }
float inertiaScalar;
if (solid) {
mass = density * (4.0f * float(M_PI) * pow(radius, 3.0f)) / 3.0f;
@@ -21,15 +61,22 @@ void Inertia::GetMassInertiaSphere(float radius, float density, bool solid,
mass = density * 4.0f * float(M_PI) * pow(radius, 2.0f);
inertiaScalar = (2.0f * mass * pow(radius, 2.0f)) / 3.0f;
}
+ center = Vector3();
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)
+void Inertia::CalcMassPropertiesBox(Vector3 size,
+ float density, bool solid,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia)
{
+ if (extCalcMassPropertiesBoxRoutine) {
+ extCalcMassPropertiesBoxRoutine(size, density, solid, mass, volume, center, inertia);
+ return;
+ }
+
Vector3 tmp;
if (solid)
{
@@ -50,12 +97,20 @@ void Inertia::GetMassInertiaBox(Vector3 size, float density, bool solid,
inertia[0][0] = tmp[1] + tmp[2];
inertia[1][1] = tmp[2] + tmp[0];
inertia[2][2] = tmp[0] + tmp[1];
+ center = Vector3();
}
-void Inertia::GetMassInertiaCylinder(float radius, float height,
- float density, bool solid,
- float& mass, InertiaMatrix &inertia)
+void Inertia::CalcMassPropertiesCylinder(Vector3 startAxis, Vector3 endAxis, float radius,
+ float density, bool solid,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia)
{
+ if (extCalcMassPropertiesCylinderRoutine) {
+ extCalcMassPropertiesCylinderRoutine(startAxis, endAxis, radius, density, solid, mass, volume, center, inertia);
+ return;
+ }
+ float height = (startAxis - endAxis).Magnitude();
+ center = (startAxis + endAxis) / 2.0f;
+
inertia = InertiaMatrix::IDENTITY;
if (solid)
{
@@ -73,10 +128,18 @@ void Inertia::GetMassInertiaCylinder(float radius, float height,
}
}
-void Inertia::GetMassInertiaCapsule(float radius, float height,
+void Inertia::CalcMassPropertiesCapsule(Vector3 startAxis, Vector3 endAxis, float radius,
float density, bool solid,
- float& mass, InertiaMatrix &inertia)
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia)
{
+ if (extCalcMassPropertiesCapsuleRoutine) {
+ extCalcMassPropertiesCapsuleRoutine(startAxis, endAxis, radius, density, solid, mass, volume, center, inertia);
+ return;
+ }
+
+ float height = (startAxis - endAxis).Magnitude();
+ center = (startAxis + endAxis) / 2.0f;
+
// cylinder + caps, and caps have volume of a sphere
inertia = InertiaMatrix::IDENTITY;
if (solid)
@@ -110,11 +173,33 @@ void Inertia::GetMassInertiaCapsule(float radius, float height,
// 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,
+void Inertia::CalcMassPropertiesPolyhedron(const vector<Vector3>& vertices,
const vector<Triangle>& triangles,
float density, bool solid,
- float& mass, Vector3& center, InertiaMatrix &inertia)
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia)
{
+ if (extCalcMassPropertiesPolyhedronRoutine) {
+ extCalcMassPropertiesPolyhedronRoutine(
+ vertices.size(), &vertices[0],
+ triangles.size(), triangles.empty() ? NULL : &triangles[0],
+ density, solid, mass, volume, center, inertia);
+ return;
+ }
+
+ vector<Triangle>::const_iterator triBegin, triEnd;
+ vector<Triangle> tris;
+ if (triangles.size() == 0)
+ {
+ tris = NifQHull::compute_convex_hull(vertices);
+ triBegin = tris.begin();
+ triEnd = tris.end();
+ }
+ else
+ {
+ triBegin = triangles.begin();
+ triEnd = triangles.end();
+ }
+
// 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
@@ -132,9 +217,9 @@ void Inertia::GetMassCenterInertiaPolyhedron(const vector<Vector3>& vertices,
// 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)
+ for (vector<Triangle>::const_iterator itr=triBegin, end=triEnd; itr != end; ++itr)
{
- // get vertices
+ // Calc vertices
const Vector3& vert0 = vertices[ (*itr)[0] ];
const Vector3& vert1 = vertices[ (*itr)[1] ];
const Vector3& vert2 = vertices[ (*itr)[2] ];
@@ -193,7 +278,7 @@ void Inertia::GetMassCenterInertiaPolyhedron(const vector<Vector3>& vertices,
// 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;
+ mass = 0.0f, volume = 0.0f;
center = Vector3();
inertia = InertiaMatrix::IDENTITY;
return;
@@ -235,4 +320,31 @@ void Inertia::GetMassCenterInertiaPolyhedron(const vector<Vector3>& vertices,
// correct for given density
inertia = InertiaMatrix((trace_matrix - total_covariance).GetRotation()) * density;
mass *= density;
+}
+
+void Inertia::CombineMassProperties(
+ vector<float> masses,
+ vector<float> volumes,
+ vector<Vector3> centers,
+ vector<InertiaMatrix> inertias,
+ vector<Matrix44> transforms,
+ float& mass, float& volume, Vector3& center, InertiaMatrix &inertia )
+{
+ if (extCombineMassPropertiesRoutine) {
+ extCombineMassPropertiesRoutine(
+ masses.size(),
+ &masses[0], &volumes[0], ¢ers[0], &inertias[0], &transforms[0],
+ mass, volume, center, inertia);
+ return;
+ }
+
+ for (size_t i=0; i < masses.size(); ++i) {
+ mass += masses[i];
+ }
+ // 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];
+ }
+
}
\ No newline at end of file
diff --git a/src/nifqhull.cpp b/src/nifqhull.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..453f9d7aa85b15d5f2d7c75858f26c32771b85f6
--- /dev/null
+++ b/src/nifqhull.cpp
@@ -0,0 +1,91 @@
+/* Copyright (c) 2006, NIF File Format Library and Tools
+All rights reserved. Please see niflib.h for license. */
+
+#include "../include/nifqhull.h"
+#include <vector>
+#include <algorithm>
+#include <functional>
+#include <math.h>
+using namespace Niflib;
+
+extern "C"
+{
+#include "../qhull/qhull.h"
+#include "../qhull/mem.h"
+#include "../qhull/qset.h"
+#include "../qhull/geom.h"
+#include "../qhull/merge.h"
+#include "../qhull/poly.h"
+#include "../qhull/io.h"
+#include "../qhull/stat.h"
+
+#include "../qhull/qhull.c"
+#include "../qhull/mem.c"
+#include "../qhull/qset.c"
+#include "../qhull/geom.c"
+#include "../qhull/merge.c"
+#include "../qhull/poly.c"
+#include "../qhull/io.c"
+#include "../qhull/stat.c"
+#include "../qhull/global.c"
+#include "../qhull/user.c"
+#include "../qhull/poly2.c"
+#include "../qhull/geom2.c"
+};
+
+using namespace Niflib;
+
+vector<Triangle> NifQHull::compute_convex_hull(const vector<Vector3>& verts)
+{
+ vector<Triangle> tris;
+
+ int dim=3; /* dimension of points */
+ int numpoints=0; /* number of points */
+ coordT *points=0; /* array of coordinates for each point */
+ boolT ismalloc=0; /* True if qhull should free points in qh_freeqhull() or reallocation */
+ char flags[]= "qhull i Qt"; /* option flags for qhull, see qh_opt.htm */
+ FILE *outfile= stdout; /* output from qh_produce_output()
+ use NULL to skip qh_produce_output() */
+ FILE *errfile= stderr; /* error messages from qhull code */
+ int exitcode; /* 0 if no error from qhull */
+ facetT *facet; /* set by FORALLfacets */
+ int curlong, totlong; /* memory remaining after qh_memfreeshort */
+
+ vertexT *vertex, **vertexp;
+ setT *vertices;
+
+ numpoints = verts.size();
+ points = new coordT[3 * verts.size()];
+ for (int i=0, n=verts.size(); i<n; ++i) {
+ points[i*3 + 0] = verts[i].x;
+ points[i*3 + 1] = verts[i].y;
+ points[i*3 + 2] = verts[i].z;
+ }
+
+ /* initialize dim, numpoints, points[], ismalloc here */
+ exitcode= qh_new_qhull (dim, numpoints, points, ismalloc,
+ flags, outfile, errfile);
+ if (!exitcode) { /* if no error */
+ /* 'qh facet_list' contains the convex hull */
+ FORALLfacets {
+ vertices = qh_facet3vertex (facet);
+ if (qh_setsize (vertices) == 3) {
+ Triangle tri;
+ int i = 0;
+ FOREACHvertex_(vertices) {
+ tri[i++] = qh_pointid(vertex->point);
+ }
+ tris.push_back(tri);
+ }
+ qh_settempfree(&vertices);
+ }
+ }
+ qh_freeqhull(!qh_ALL);
+ qh_memfreeshort (&curlong, &totlong);
+ if (curlong || totlong)
+ fprintf (errfile, "qhull internal warning (main): did not free %d bytes of long memory (%d pieces)\n",
+ totlong, curlong);
+
+ delete[] points;
+ return tris;
+};
diff --git a/src/obj/bhkBoxShape.cpp b/src/obj/bhkBoxShape.cpp
index 86eb94a23838c9decefb21669e69e4ab759785a5..3bcabeb48f86a45dfdfa4771c436ebed6366eaae 100644
--- a/src/obj/bhkBoxShape.cpp
+++ b/src/obj/bhkBoxShape.cpp
@@ -122,9 +122,8 @@ 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 )
+void bhkBoxShape::CalcMassProperties( float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia )
{
- center = Vector3(0,0,0);
- Inertia::GetMassInertiaBox( dimensions * 2.0f, density, solid, mass, inertia );
+ Inertia::CalcMassPropertiesBox( dimensions, density, solid, mass, volume, center, inertia );
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkBvTreeShape.cpp b/src/obj/bhkBvTreeShape.cpp
index d115e16024d2607419c4a0c478906a1184d2a704..3ee8603cb1d94f11ad98a8cd0f243e85cf850070 100644
--- a/src/obj/bhkBvTreeShape.cpp
+++ b/src/obj/bhkBvTreeShape.cpp
@@ -86,10 +86,10 @@ std::list<NiObjectRef> bhkBvTreeShape::GetRefs() const {
return refs;
}
-void bhkBvTreeShape::CalcMassCenterInertia( float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia )
+void bhkBvTreeShape::CalcMassProperties( float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia )
{
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
}
diff --git a/src/obj/bhkCapsuleShape.cpp b/src/obj/bhkCapsuleShape.cpp
index 66d6face748a677825591b39fb33e794a6a273f2..96936240af64dde5f7d5f6e45bdd374190549d87 100644
--- a/src/obj/bhkCapsuleShape.cpp
+++ b/src/obj/bhkCapsuleShape.cpp
@@ -167,11 +167,9 @@ void bhkCapsuleShape::SetRadius2( float value ) {
* \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)
+void bhkCapsuleShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
- center = Vector3();
- float height = (secondPoint - firstPoint).Magnitude();
- Inertia::GetMassInertiaCapsule(radius, height, density, solid, mass, inertia);
+ Inertia::CalcMassPropertiesCapsule(firstPoint, secondPoint, radius, density, solid, mass, volume, center, inertia);
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkConvexShape.cpp b/src/obj/bhkConvexShape.cpp
index b762579b2f77fa355edf9d354975d12accfc9f84..301472a5958fa4e532b7c316742ec52d200a8d76 100644
--- a/src/obj/bhkConvexShape.cpp
+++ b/src/obj/bhkConvexShape.cpp
@@ -88,10 +88,10 @@ std::list<NiObjectRef> bhkConvexShape::GetRefs() const {
//--BEGIN MISC CUSTOM CODE--//
-void bhkConvexShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+void bhkConvexShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
}
diff --git a/src/obj/bhkConvexTransformShape.cpp b/src/obj/bhkConvexTransformShape.cpp
index 2cfb3476f51f776f09384877ecad23d535d4032d..8ff666585db55427eaef9be2433f249346acc468 100644
--- a/src/obj/bhkConvexTransformShape.cpp
+++ b/src/obj/bhkConvexTransformShape.cpp
@@ -87,10 +87,10 @@ std::list<NiObjectRef> bhkConvexTransformShape::GetRefs() const {
}
//--BEGIN MISC CUSTOM CODE--//
-void bhkConvexTransformShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+void bhkConvexTransformShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
}
diff --git a/src/obj/bhkConvexVerticesShape.cpp b/src/obj/bhkConvexVerticesShape.cpp
index d1dbcd586d29bb91de4b9654a4ae489f6652acd1..1179a1f1e71cd8d0fa1b54ec4ff422760b5e2909 100644
--- a/src/obj/bhkConvexVerticesShape.cpp
+++ b/src/obj/bhkConvexVerticesShape.cpp
@@ -8,7 +8,6 @@ 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--//
@@ -245,13 +244,13 @@ void bhkConvexVerticesShape::SetNormalsAndDist(const vector<Vector4>& value)
normals = value;
}
-void bhkConvexVerticesShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+void bhkConvexVerticesShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 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);
+ vector<Triangle> tris; // no tris mean convex
+ Inertia::CalcMassPropertiesPolyhedron(verts, tris, density, solid, mass, volume, center, inertia);
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkListShape.cpp b/src/obj/bhkListShape.cpp
index b01268fc098c747f4f0b1a39b98e0a37ba7e8a0f..d6ae5144db661ece839e03270b82c11b9d69b6b4 100644
--- a/src/obj/bhkListShape.cpp
+++ b/src/obj/bhkListShape.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"
@@ -198,29 +199,31 @@ 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)
+void bhkListShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
center = Vector3(0,0,0);
mass = 0.0f;
+ volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
vector<float> masses;
+ vector<float> volumes;
vector<Vector3> centers;
vector<InertiaMatrix> inertias;
+ vector<Matrix44> transforms;
for (vector<bhkShapeRef>::iterator itr = subShapes.begin(); itr != subShapes.end(); ++itr)
{
- float m; Vector3 c; InertiaMatrix i;
- (*itr)->CalcMassCenterInertia(density, solid, m, c, i);
+ float m; float v; Vector3 c; InertiaMatrix i;
+ (*itr)->CalcMassProperties(density, solid, m, v, c, i);
masses.push_back(m);
+ volumes.push_back(v);
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];
+ transforms.push_back(Matrix44::IDENTITY);
}
+ Inertia::CombineMassProperties(
+ masses, volumes, centers, inertias, transforms,
+ mass, volume, center, inertia
+ );
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkMoppBvTreeShape.cpp b/src/obj/bhkMoppBvTreeShape.cpp
index 189b17c7507b2898ecb205f7dd5f3932033f24ea..b96d2a1e561f427f3249bc48b270d0203b4f5523 100644
--- a/src/obj/bhkMoppBvTreeShape.cpp
+++ b/src/obj/bhkMoppBvTreeShape.cpp
@@ -200,14 +200,14 @@ void bhkMoppBvTreeShape::SetMoppScale( float value ) {
scale = value;
}
-void bhkMoppBvTreeShape::CalcMassCenterInertia( float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia )
+void bhkMoppBvTreeShape::CalcMassProperties( float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia )
{
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
if (shape != NULL)
- shape->CalcMassCenterInertia(density, solid, mass, center, inertia);
+ shape->CalcMassProperties(density, solid, mass, volume, center, inertia);
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkMultiSphereShape.cpp b/src/obj/bhkMultiSphereShape.cpp
index da68b33f7af973185cbb83b518f2664f375a279e..cf4081d5d791fef6489aa430125849e1c119d01a 100644
--- a/src/obj/bhkMultiSphereShape.cpp
+++ b/src/obj/bhkMultiSphereShape.cpp
@@ -126,11 +126,11 @@ void bhkMultiSphereShape::SetSpheres( const vector<SphereBV >& value ) {
spheres = value;
}
-void bhkMultiSphereShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+void bhkMultiSphereShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
// TODO: Calculate this properly
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkNiTriStripsShape.cpp b/src/obj/bhkNiTriStripsShape.cpp
index 6e0aa018ca9f6dde00c501db5b0e391f460ded16..d861c04c9092d36618cc22cf42d2f3bb8eceee83 100644
--- a/src/obj/bhkNiTriStripsShape.cpp
+++ b/src/obj/bhkNiTriStripsShape.cpp
@@ -258,10 +258,10 @@ 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)
+void bhkNiTriStripsShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
vector<Vector3> verts;
@@ -276,6 +276,6 @@ void bhkNiTriStripsShape::CalcMassCenterInertia(float density, bool solid, float
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);
+ Inertia::CalcMassPropertiesPolyhedron(verts, tris, density, solid, mass, volume, center, inertia);
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkPackedNiTriStripsShape.cpp b/src/obj/bhkPackedNiTriStripsShape.cpp
index a6791005baa5268f09ec730e49568684fa33884c..33c919d410847756eb454b56ba22014dd3260204 100644
--- a/src/obj/bhkPackedNiTriStripsShape.cpp
+++ b/src/obj/bhkPackedNiTriStripsShape.cpp
@@ -182,17 +182,17 @@ void bhkPackedNiTriStripsShape::SetSubShapes( vector<OblivionSubShape>& value )
subShapes = value;
}
-void bhkPackedNiTriStripsShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+void bhkPackedNiTriStripsShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 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);
+ Inertia::CalcMassPropertiesPolyhedron(verts, tris, density, solid, mass, volume, center, inertia);
}
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkRigidBody.cpp b/src/obj/bhkRigidBody.cpp
index f89c8abbe3cbb98e954eaee0fb7216ce03ad3f3d..a02f167e19cd94e00477d63a16169a85e1ef0b18 100644
--- a/src/obj/bhkRigidBody.cpp
+++ b/src/obj/bhkRigidBody.cpp
@@ -452,7 +452,7 @@ void bhkRigidBody::ApplyScale(float scale)
//ApplyScale(scale)
}
-void bhkRigidBody::UpdateMassCenterInertia(float density, bool solid, float mass)
+void bhkRigidBody::UpdateMassProperties(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
@@ -463,8 +463,9 @@ void bhkRigidBody::UpdateMassCenterInertia(float density, bool solid, float mass
if (shape != NULL)
{
+ float volume;
Vector3 com;
- shape->CalcMassCenterInertia(density, solid, this->mass, com, inertia);
+ shape->CalcMassProperties(density, solid, this->mass, volume, com, inertia);
center = com;
if (mass != 0.0f)
{
diff --git a/src/obj/bhkShape.cpp b/src/obj/bhkShape.cpp
index fdfac180bb23ee7aa1f3d4f8848fb9700065e736..24b524a4bbd4678b3dc456342f768b2e318c23fd 100644
--- a/src/obj/bhkShape.cpp
+++ b/src/obj/bhkShape.cpp
@@ -88,10 +88,10 @@ std::list<NiObjectRef> bhkShape::GetRefs() const {
//--BEGIN MISC CUSTOM CODE--//
-void bhkShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+void bhkShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkSphereRepShape.cpp b/src/obj/bhkSphereRepShape.cpp
index 3bc83d8d0ce50be1be485b6088b7e241958f1190..dd8e3c48019cacf85028d8e6dfd0f99d00cff5c7 100644
--- a/src/obj/bhkSphereRepShape.cpp
+++ b/src/obj/bhkSphereRepShape.cpp
@@ -111,12 +111,12 @@ void bhkSphereRepShape::SetRadius( float value ) {
radius = value;
}
-void bhkSphereRepShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+void bhkSphereRepShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
- Inertia::GetMassInertiaSphere(radius, density, solid, mass, inertia);
+ Inertia::CalcMassPropertiesSphere(radius, density, solid, mass, volume, center, inertia);
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkSphereShape.cpp b/src/obj/bhkSphereShape.cpp
index c0c378e19df48bdd4b26d290f8f31969a3fef144..ef59048f1aa7a866572294ec080d4333967128ab 100644
--- a/src/obj/bhkSphereShape.cpp
+++ b/src/obj/bhkSphereShape.cpp
@@ -97,11 +97,11 @@ void bhkSphereShape::SetRadius( float value ) {
radius = value;
}
-void bhkSphereShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+void bhkSphereShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
center = Vector3(0,0,0);
- mass = 0.0f;
+ mass = 0.0f, volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
- Inertia::GetMassInertiaSphere(radius, density, solid, mass, inertia);
+ Inertia::CalcMassPropertiesSphere(radius, density, solid, mass, volume, center, inertia);
}
//--END CUSTOM CODE--//
diff --git a/src/obj/bhkTransformShape.cpp b/src/obj/bhkTransformShape.cpp
index 33fba51a4fb1043f654af7565a930ba6a1097961..4b9731745ef68a35eb58cac093f1e80e53102642 100644
--- a/src/obj/bhkTransformShape.cpp
+++ b/src/obj/bhkTransformShape.cpp
@@ -156,15 +156,15 @@ void bhkTransformShape::SetTransform(const Matrix44 & value ) {
transform = value;
}
-void bhkTransformShape::CalcMassCenterInertia(float density, bool solid, float &mass, Vector3 ¢er, InertiaMatrix& inertia)
+void bhkTransformShape::CalcMassProperties(float density, bool solid, float &mass, float &volume, Vector3 ¢er, InertiaMatrix& inertia)
{
center = transform.GetTranslation();
- mass = 0.0f;
+ mass = 0.0f, volume = 0.0f;
inertia = InertiaMatrix::IDENTITY;
if (shape != NULL)
{
Matrix44 transform_transposed = transform.Transpose();
- shape->CalcMassCenterInertia(density, solid, mass, center, inertia);
+ shape->CalcMassProperties(density, solid, mass, volume, center, inertia);
center = transform * center;
Matrix44 tm(inertia.Submatrix(0, 0));