initial commit, 4.5 stable

thirdparty/jolt_physics/Jolt/Physics/Body/MassProperties.h

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+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/ObjectStream/SerializableObject.h>
+
+JPH_NAMESPACE_BEGIN
+
+class StreamIn;
+class StreamOut;
+
+/// Describes the mass and inertia properties of a body. Used during body construction only.
+class JPH_EXPORT MassProperties
+{
+	JPH_DECLARE_SERIALIZABLE_NON_VIRTUAL(JPH_EXPORT, MassProperties)
+
+public:
+	/// Using eigendecomposition, decompose the inertia tensor into a diagonal matrix D and a right-handed rotation matrix R so that the inertia tensor is \f$R \: D \: R^{-1}\f$.
+	/// @see https://en.wikipedia.org/wiki/Moment_of_inertia section 'Principal axes'
+	/// @param outRotation The rotation matrix R
+	/// @param outDiagonal The diagonal of the diagonal matrix D
+	/// @return True if successful, false if failed
+	bool					DecomposePrincipalMomentsOfInertia(Mat44 &outRotation, Vec3 &outDiagonal) const;
+
+	/// Set the mass and inertia of a box with edge size inBoxSize and density inDensity
+	void					SetMassAndInertiaOfSolidBox(Vec3Arg inBoxSize, float inDensity);
+
+	/// Set the mass and scale the inertia tensor to match the mass
+	void					ScaleToMass(float inMass);
+
+	/// Calculates the size of the solid box that has an inertia tensor diagonal inInertiaDiagonal
+	static Vec3				sGetEquivalentSolidBoxSize(float inMass, Vec3Arg inInertiaDiagonal);
+
+	/// Rotate the inertia by 3x3 matrix inRotation
+	void					Rotate(Mat44Arg inRotation);
+
+	/// Translate the inertia by a vector inTranslation
+	void					Translate(Vec3Arg inTranslation);
+
+	/// Scale the mass and inertia by inScale, note that elements can be < 0 to flip the shape
+	void					Scale(Vec3Arg inScale);
+
+	/// Saves the state of this object in binary form to inStream.
+	void					SaveBinaryState(StreamOut &inStream) const;
+
+	/// Restore the state of this object from inStream.
+	void					RestoreBinaryState(StreamIn &inStream);
+
+	/// Mass of the shape (kg)
+	float					mMass = 0.0f;
+
+	/// Inertia tensor of the shape (kg m^2)
+	Mat44					mInertia = Mat44::sZero();
+};
+
+JPH_NAMESPACE_END