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#pragma once
#include <Havok/Common/Base/hkBase.h>
struct hkGeometry;
struct hkStridedVertices;
struct hkMassProperties {
HK_DECLARE_CLASS_ALLOCATOR(hkMassProperties)
HK_DECLARE_REFLECTION()
hkMassProperties() : m_volume(0), m_mass(0) {
m_centerOfMass.setZero();
m_inertiaTensor.setZero();
}
explicit hkMassProperties(hkFinishLoadedObjectFlag flag) {}
void scaleToDensity(hkSimdRealParameter density);
void scaleToMass(hkSimdRealParameter newMass);
hkReal m_volume;
hkReal m_mass;
hkVector4 m_centerOfMass;
hkMatrix3 m_inertiaTensor;
};
struct hkMassElement {
HK_DECLARE_CLASS_ALLOCATOR(hkMassElement)
HK_FORCE_INLINE hkMassElement() { m_transform.setIdentity(); }
HK_FORCE_INLINE hkMassElement(const hkMassProperties& properties, const hkTransform& transform)
: m_properties(properties), m_transform(transform) {}
hkMassProperties m_properties;
hkTransform m_transform;
};
class hkInertiaTensorComputer {
public:
static hkResult computeSphereVolumeMassProperties(hkReal radius, hkReal mass,
hkMassProperties& result);
static hkResult computeBoxVolumeMassProperties(hkVector4Parameter halfExtents, hkReal mass,
hkMassProperties& result);
static hkResult computeBoxVolumeMassPropertiesDiagonalized(hkVector4Parameter halfExtents,
hkReal mass,
hkVector4& inertiaDiagonal,
hkReal& volume);
static hkResult computeCapsuleVolumeMassProperties(hkVector4Parameter startAxis,
hkVector4Parameter endAxis, hkReal radius,
hkReal mass, hkMassProperties& result);
static hkResult computeSphereSurfaceMassProperties(hkReal radius, hkReal mass,
hkReal surfaceThickness,
hkMassProperties& result);
static hkResult computeBoxSurfaceMassProperties(hkVector4Parameter halfExtents, hkReal mass,
hkReal surfaceThickness,
hkMassProperties& result);
static hkResult computeTriangleSurfaceMassProperties(hkVector4Parameter v0,
hkVector4Parameter v1,
hkVector4Parameter v2, hkReal mass,
hkReal surfaceThickness,
hkMassProperties& result);
static hkResult computeCylinderVolumeMassProperties(hkVector4Parameter startAxis,
hkVector4Parameter endAxis, hkReal radius,
hkReal mass, hkMassProperties& result);
static hkResult computeConvexHullMassProperties(const hkStridedVertices& vertices,
hkReal radius, hkMassProperties& result);
using ConvexHullMassPropertiesFunction = hkResult (*)(const hkStridedVertices&, hkReal,
hkMassProperties&);
static ConvexHullMassPropertiesFunction s_computeConvexHullMassPropertiesFunction;
static hkResult computeVertexHullVolumeMassProperties(const hkReal* vertexIn, int striding,
int numVertices, hkReal mass,
hkMassProperties& result);
static hkResult computeVertexCloudMassProperties(const hkReal* vertexIn, int striding,
int numVertices, hkReal mass,
hkMassProperties& result);
static hkResult computeGeometrySurfaceMassProperties(const hkGeometry* geom,
hkReal surfaceThickness,
hkBool distributeUniformly, hkReal mass,
hkMassProperties& result);
static void computeGeometryVolumeMassProperties(const hkGeometry* geom, hkReal mass,
hkMassProperties& result);
static hkResult computeGeometryVolumeMassPropertiesChecked(const hkGeometry* geom, hkReal mass,
hkMassProperties& result);
static hkResult combineMassProperties(const hkArray<hkMassElement>& elements,
hkMassProperties& result);
static void simplifyInertiaTensorToOrientedParticle(hkMatrix3& inertia);
static void convertInertiaTensorToPrincipleAxis(hkMatrix3& inertia,
hkRotation& principleAxisOut);
static void shiftInertiaToCom(hkVector4Parameter shift, hkSimdRealParameter mass,
hkMatrix3& inertia);
static void shiftInertiaFromCom(hkVector4Parameter shift, hkSimdRealParameter mass,
hkMatrix3& inertia);
};
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