diff options
Diffstat (limited to 'src/tesseract/objects')
| -rw-r--r-- | src/tesseract/objects/Ellipsoid.java | 41 |
1 files changed, 38 insertions, 3 deletions
diff --git a/src/tesseract/objects/Ellipsoid.java b/src/tesseract/objects/Ellipsoid.java index 617bdb8..ac8a552 100644 --- a/src/tesseract/objects/Ellipsoid.java +++ b/src/tesseract/objects/Ellipsoid.java @@ -38,6 +38,11 @@ public class Ellipsoid extends PhysicalObject { private static final int DEFAULT_DIVISIONS = 50;
/**
+ * The radius of the base sphere
+ */
+ private float my_radius;
+
+ /**
* Create a new Ellipsoid.
*
* @param position Initial position.
@@ -54,7 +59,20 @@ public class Ellipsoid extends PhysicalObject { final Appearance appearance, final float b, final float c) {
super(position, mass);
+ my_radius = radius;
+
setShape(createShape(radius, primflags, appearance, divisions, b, c));
+
+ final float rSq = radius * radius;
+ final float a = 1.0f;
+
+ if (inverseMass != 0) {
+ inverseInertiaTensor.m00 = 1f / 5 / inverseMass * (b * rSq + c * rSq);
+ inverseInertiaTensor.m11 = 1f / 5 / inverseMass * (a * rSq + c * rSq);
+ inverseInertiaTensor.m22 = 1f / 5 / inverseMass * (a * rSq + b * rSq);
+ inverseInertiaTensor.invert();
+ }
+ updateTransformGroup();
}
/**
@@ -66,21 +84,38 @@ public class Ellipsoid extends PhysicalObject { public Ellipsoid(final Vector3f position, final float radius) {
super(position, DEFAULT_MASS);
- setShape(createDefaultEllipsoid(radius));
+ my_radius = radius;
+
+ final float rSq = radius * radius;
+ final float a = 1.0f;
+ final float b = 1.0f;
+ final float c = 1.5f;
+
+
+ setShape(createDefaultEllipsoid(radius, a, b, c));
+
+ if (inverseMass != 0) {
+ inverseInertiaTensor.m00 = 1f / 5 / inverseMass * (b * rSq + c * rSq);
+ inverseInertiaTensor.m11 = 1f / 5 / inverseMass * (a * rSq + c * rSq);
+ inverseInertiaTensor.m22 = 1f / 5 / inverseMass * (a * rSq + b * rSq);
+ inverseInertiaTensor.invert();
+ }
+ updateTransformGroup();
}
/**
* This creates a default Ellipsoid for the 2 argument constructor.
* @param radius the siz of the ellipsoid
*/
- private TransformGroup createDefaultEllipsoid(final float radius) {
+ private TransformGroup createDefaultEllipsoid(final float radius, final float a,
+ final float b, final float c) {
Sphere sphere = new Sphere(radius,
new Sphere().getPrimitiveFlags()
| Sphere.ENABLE_GEOMETRY_PICKING,
DEFAULT_DIVISIONS);
Transform3D tmp = new Transform3D();
- tmp.set(new Matrix3f(1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.5f));
+ tmp.set(new Matrix3f(a, 0.0f, 0.0f, 0.0f, b, 0.0f, 0.0f, 0.0f, c));
TransformGroup tg = new TransformGroup(tmp);
tg.addChild(sphere);
return tg;
|