Game Development Reference
In-Depth Information
real t52 = rotmat.data[8]*iitBody.data[0]+
rotmat.data[9]*iitBody.data[3]+
rotmat.data[10]*iitBody.data[6];
real t57 = rotmat.data[8]*iitBody.data[1]+
rotmat.data[9]*iitBody.data[4]+
rotmat.data[10]*iitBody.data[7];
real t62 = rotmat.data[8]*iitBody.data[2]+
rotmat.data[9]*iitBody.data[5]+
rotmat.data[10]*iitBody.data[8];
iitWorld.data[0] = t4*rotmat.data[0]+
t9*rotmat.data[1]+
t14*rotmat.data[2];
iitWorld.data[1] = t4*rotmat.data[4]+
t9*rotmat.data[5]+
t14*rotmat.data[6];
iitWorld.data[2] = t4*rotmat.data[8]+
t9*rotmat.data[9]+
t14*rotmat.data[10];
iitWorld.data[3] = t28*rotmat.data[0]+
t33*rotmat.data[1]+
t38*rotmat.data[2];
iitWorld.data[4] = t28*rotmat.data[4]+
t33*rotmat.data[5]+
t38*rotmat.data[6];
iitWorld.data[5] = t28*rotmat.data[8]+
t33*rotmat.data[9]+
t38*rotmat.data[10];
iitWorld.data[6] = t52*rotmat.data[0]+
t57*rotmat.data[1]+
t62*rotmat.data[2];
iitWorld.data[7] = t52*rotmat.data[4]+
t57*rotmat.data[5]+
t62*rotmat.data[6];
iitWorld.data[8] = t52*rotmat.data[8]+
t57*rotmat.data[9]+
t62*rotmat.data[10];
}
void RigidBody::calculateDerivedData()
{
// Calculate the inertiaTensor in world space.
_transformInertiaTensor(inverseInertiaTensorWorld,
orientation,
inverseInertiaTensor,
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