27 lines
710 B
Odin
27 lines
710 B
Odin
package physics
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import lg "core:math/linalg"
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import rl "vendor:raylib"
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inertia_tensor_box :: proc(size: rl.Vector3) -> (tensor: rl.Vector3) {
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CONSTANT :: f32(1.0 / 12.0)
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tensor.x = size.z * size.z + size.y * size.y
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tensor.y = size.x * size.x + size.z * size.z
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tensor.z = size.x * size.x + size.y * size.y
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tensor *= CONSTANT
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return
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}
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body_local_to_world :: #force_inline proc(body: Body_Ptr, pos: rl.Vector3) -> rl.Vector3 {
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return body.x + lg.quaternion_mul_vector3(body.q, pos)
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}
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body_world_to_local :: #force_inline proc(body: Body_Ptr, pos: rl.Vector3) -> rl.Vector3 {
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// TODO: maybe store that
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inv_q := lg.quaternion_inverse(body.q)
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return lg.quaternion_mul_vector3(inv_q, pos - body.x)
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}
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