DySpatial.h

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#ifndef DY_SPATIAL_H
#define DY_SPATIAL_H
 
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "CmSpatialVector.h"
 
namespace physx
{
namespace Dy
{
// translate a motion resolved at position p to the origin
 
 
// should have a 'from' frame and a 'to' frame
class SpInertia
{
public:
    SpInertia() {}
 
    SpInertia(const PxMat33& ll, const PxMat33& la, const PxMat33& aa): mLL(ll), mLA(la), mAA(aa)
    {
    }
 
    static SpInertia getZero()
    {
        return SpInertia(PxMat33(PxZero), PxMat33(PxZero), 
                                 PxMat33(PxZero));
    }
 
    static SpInertia dyad(const Cm::SpatialVector& column, const Cm::SpatialVector& row) 
    {
        return SpInertia(dyad(column.linear, row.linear),  
                         dyad(column.linear, row.angular),  
                         dyad(column.angular, row.angular));
    }
 
 
    static SpInertia inertia(PxReal mass, const PxVec3& inertia)
    {
        return SpInertia(PxMat33::createDiagonal(PxVec3(mass,mass,mass)), PxMat33(PxZero),           
                                 PxMat33::createDiagonal(inertia));
    }
 
 
    SpInertia operator+(const SpInertia& m) const
    {
        return SpInertia(mLL+m.mLL, mLA+m.mLA, mAA+m.mAA);
    }
 
    SpInertia operator-(const SpInertia& m) const
    {
        return SpInertia(mLL-m.mLL, mLA-m.mLA, mAA-m.mAA);
    }
 
    SpInertia operator*(PxReal r) const
    {
        return SpInertia(mLL*r, mLA*r, mAA*r);
    }
 
    void operator+=(const SpInertia& m)
    {
        mLL+=m.mLL; 
        mLA+=m.mLA;     
        mAA+=m.mAA;
    }
 
    void operator-=(const SpInertia& m)
    {
        mLL-=m.mLL; 
        mLA-=m.mLA;     
        mAA-=m.mAA;
    }
 
 
    PX_FORCE_INLINE Cm::SpatialVector operator *(const Cm::SpatialVector& v) const
    {
        return Cm::SpatialVector(mLL*v.linear            +mLA*v.angular,
                                mLA.transformTranspose(v.linear)+mAA*v.angular);
    }
 
    SpInertia operator *(const SpInertia& v) const
    {
        return SpInertia(mLL*v.mLL             + mLA * v.mLA.getTranspose(), 
                         mLL*v.mLA             + mLA * v.mAA,
                         mLA.getTranspose()*v.mLA + mAA * v.mAA);
    }
 
 
    bool isFinite() const
    {
        return true;
//      return mLL.isFinite() && mLA.isFinite() && mAA.isFinite(); 
    }
 
    PxMat33 mLL, mLA;       // linear force from angular motion, linear force from linear motion
    PxMat33 mAA;            // angular force from angular motion, mAL = mLA.transpose()
 
private:
    static PxMat33 dyad(PxVec3 col, PxVec3 row) 
    { 
        return PxMat33(col*row.x, col*row.y, col*row.z); 
    }
 
 
};
 
}
}
 
#endif