Toroid @ origion!

1 files changed, 19 insertions, 7 deletions

diff --git a/src/tesseract/objects/Toroid.java b/src/tesseract/objects/Toroid.java
index 7f88fcb..581ce7d 100644
--- a/src/tesseract/objects/Toroid.java
+++ b/src/tesseract/objects/Toroid.java
@@ -41,12 +41,14 @@ public class Toroid extends PhysicalObject {
 				arcRadius, arcDivisions));

 		if (inverseMass != 0) {

 			float a = sliceRadius * sliceRadius;

-			float c = arcRadius * arcRadius;

-			inverseInertiaTensor.m00 = 5f * a / 8f + c / 2f;

-			inverseInertiaTensor.m11 = 5f * a / 8f + c / 2f;;

-			inverseInertiaTensor.m22 = 3f * a / 4 + c;

+			float b = arcRadius * arcRadius;

+			inverseInertiaTensor.m00 = ((4f * a + 5f * b) / 8f) * mass;

+			inverseInertiaTensor.m11 = ((4f * a + 5f * b) / 8f) * mass;

+			inverseInertiaTensor.m22 = (a + (3f/4f) * b) * mass;

 			inverseInertiaTensor.invert();

 		}

+		

+		

 	}

 	

 	

@@ -62,11 +64,13 @@ public class Toroid extends PhysicalObject {
 		Point3f[][] coordinates = new Point3f[arcDivisions][sliceDivisions];

 		final float arcAngle = (float) (Math.PI * 2.0);

 		final float sliceDivisionAngle = 2 * (float) Math.PI / sliceDivisions;

-		

+		Transform3D center = new Transform3D();

+		center.setTranslation(new Vector3f(-(arcRadius), 0, 0));

 		for (int i = 0; i < sliceDivisions; i++) {

 			coordinates[0][i] = new Point3f(sliceRadius 

 					* (float) Math.cos(i * sliceDivisionAngle), 0f, sliceRadius 

-					* (float) Math.sin(i * sliceDivisionAngle));	

+					* (float) Math.sin(i * sliceDivisionAngle));

+			

 		}

 		

 		Transform3D trans3D = new Transform3D();

@@ -77,12 +81,20 @@ public class Toroid extends PhysicalObject {
 		tmp.setIdentity();

 		tmp.setTranslation(new Vector3f(-arcRadius, 0, 0));

 		trans3D.mul(tmp);

+		//trans3D.mul(center);

 		

 		for (int j = 1; j < arcDivisions; j++) {

 			for (int i = 0; i < sliceDivisions; i++) {

 				coordinates[j][i] = new Point3f(coordinates[j - 1][i]);

 				trans3D.transform(coordinates[j][i]);

-				coordinates[j][i].scale(scale);

+				//center.transform(coordinates[j][i]);

+				//coordinates[j][i].scale(scale);

+				

+			}

+		}

+		for (int j = 0; j < arcDivisions; j++) {

+			for (int i = 0; i < sliceDivisions; i++) {

+				center.transform(coordinates[j][i]);

 			}

 		}