diff options
| author | Jesse Morgan <jesse@jesterpm.net> | 2011-02-16 07:24:16 +0000 |
|---|---|---|
| committer | Jesse Morgan <jesse@jesterpm.net> | 2011-02-16 07:24:16 +0000 |
| commit | 5e9f617bdfea01d0bd5e66daf7a5e55f8f94dbf0 (patch) | |
| tree | 31fe45fdbe6096a933c905c0a210fb8dcb66f4f1 | |
| parent | 0c31bb464e6a2ebe782b8dd6e18b36b366ee14f8 (diff) | |
Started working on some inertia tensors for the chainlink. Made an adjustment to rotations in the ui.
| -rw-r--r-- | src/tesseract/TesseractUI.java | 5 | ||||
| -rw-r--r-- | src/tesseract/objects/ChainLink2.java | 8 |
2 files changed, 11 insertions, 2 deletions
diff --git a/src/tesseract/TesseractUI.java b/src/tesseract/TesseractUI.java index da31971..1e8ff9c 100644 --- a/src/tesseract/TesseractUI.java +++ b/src/tesseract/TesseractUI.java @@ -380,10 +380,11 @@ public class TesseractUI extends JFrame { t3d.transform(p); if (e.isAltDown()) { - myCurrentObject.getOrientation().x += p.x; - myCurrentObject.getOrientation().y += p.y; + myCurrentObject.getOrientation().y += p.x; + myCurrentObject.getOrientation().x += p.y; myCurrentObject.getOrientation().z += p.z; myCurrentObject.getOrientation().w = 1; + myCurrentObject.getOrientation().normalize(); } else { myCurrentObject.getPosition().x += p.x; diff --git a/src/tesseract/objects/ChainLink2.java b/src/tesseract/objects/ChainLink2.java index 0678c69..23a8097 100644 --- a/src/tesseract/objects/ChainLink2.java +++ b/src/tesseract/objects/ChainLink2.java @@ -83,6 +83,14 @@ public class ChainLink2 extends PhysicalObject { setShape(createShape(SLICE_COUNT, SLICE_DIVISIONS, diameter, length, width)); + + if (inverseMass != 0) { + final float radius2 = diameter / 2.0f * diameter / 2.0f; + inverseInertiaTensor.m00 = 1 / (8.0f * inverseMass) * (4 * radius2 + 5 * (length * length + width * width)); + inverseInertiaTensor.m11 = inverseInertiaTensor.m00; + inverseInertiaTensor.m22 = 1 / (inverseMass) * (radius2 + 0.75f * (length * length + width * width)); + inverseInertiaTensor.invert(); + } } /** |