From cc6d1b973002b4d366bc81ec6bf9e8240ad7b404 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 14 Dec 2020 15:51:43 +0100 Subject: Outsource the Shape trait, wquadtree, and shape types. --- src/dynamics/mass_properties_capsule.rs | 39 --------------------------------- 1 file changed, 39 deletions(-) delete mode 100644 src/dynamics/mass_properties_capsule.rs (limited to 'src/dynamics/mass_properties_capsule.rs') diff --git a/src/dynamics/mass_properties_capsule.rs b/src/dynamics/mass_properties_capsule.rs deleted file mode 100644 index 3b1b214..0000000 --- a/src/dynamics/mass_properties_capsule.rs +++ /dev/null @@ -1,39 +0,0 @@ -use crate::dynamics::MassProperties; -#[cfg(feature = "dim3")] -use crate::geometry::Capsule; -use crate::math::Point; - -impl MassProperties { - pub(crate) fn from_capsule(density: f32, a: Point, b: Point, radius: f32) -> Self { - let half_height = (b - a).norm() / 2.0; - let (cyl_vol, cyl_unit_i) = Self::cylinder_y_volume_unit_inertia(half_height, radius); - let (ball_vol, ball_unit_i) = Self::ball_volume_unit_angular_inertia(radius); - let cap_vol = cyl_vol + ball_vol; - let cap_mass = cap_vol * density; - let mut cap_unit_i = cyl_unit_i + ball_unit_i; - let local_com = na::center(&a, &b); - - #[cfg(feature = "dim2")] - { - let h = half_height * 2.0; - let extra = h * h * 0.5 + h * radius * 3.0 / 8.0; - cap_unit_i += extra; - Self::new(local_com, cap_mass, cap_unit_i * cap_mass) - } - - #[cfg(feature = "dim3")] - { - let h = half_height * 2.0; - let extra = h * h * 0.5 + h * radius * 3.0 / 8.0; - cap_unit_i.x += extra; - cap_unit_i.z += extra; - let local_frame = Capsule::new(a, b, radius).rotation_wrt_y(); - Self::with_principal_inertia_frame( - local_com, - cap_mass, - cap_unit_i * cap_mass, - local_frame, - ) - } - } -} -- cgit