267 lines
11 KiB
C++
267 lines
11 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2022 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_RIGID_BODY_H
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#define REACTPHYSICS3D_RIGID_BODY_H
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// Libraries
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#include <cassert>
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#include <reactphysics3d/body/CollisionBody.h>
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#include <reactphysics3d/mathematics/mathematics.h>
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/// Namespace reactphysics3d
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namespace reactphysics3d {
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// Class declarations
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struct JointListElement;
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class PhysicsWorld;
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class MemoryManager;
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enum class BodyType;
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// Class RigidBody
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/**
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* This class represents a rigid body of the physics
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* engine. A rigid body is a non-deformable body that
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* has a constant mass. This class inherits from the
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* CollisionBody class.
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*/
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class RigidBody : public CollisionBody {
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protected :
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// -------------------- Methods -------------------- //
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/// Update whether the current overlapping pairs where this body is involed are active or not
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void resetOverlappingPairs();
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/// Compute and return the local-space center of mass of the body using its colliders
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Vector3 computeCenterOfMass() const;
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/// Compute the local-space inertia tensor and total mass of the body using its colliders
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void computeMassAndInertiaTensorLocal(Vector3& inertiaTensorLocal, decimal& totalMass) const;
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/// Compute the inverse of the inertia tensor in world coordinates.
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static void computeWorldInertiaTensorInverse(const Matrix3x3& orientation, const Vector3& inverseInertiaTensorLocal, Matrix3x3& outInverseInertiaTensorWorld);
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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RigidBody(PhysicsWorld& world, Entity entity);
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/// Destructor
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virtual ~RigidBody() override = default;
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/// Deleted copy-constructor
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RigidBody(const RigidBody& body) = delete;
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/// Deleted assignment operator
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RigidBody& operator=(const RigidBody& body) = delete;
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/// Set the current position and orientation
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virtual void setTransform(const Transform& transform) override;
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/// Return the mass of the body
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decimal getMass() const;
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/// Set the mass of the rigid body
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void setMass(decimal mass);
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/// Return the linear velocity
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Vector3 getLinearVelocity() const;
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/// Set the linear velocity of the body.
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void setLinearVelocity(const Vector3& linearVelocity);
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/// Return the angular velocity
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Vector3 getAngularVelocity() const;
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/// Set the angular velocity.
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void setAngularVelocity(const Vector3& angularVelocity);
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/// Return the local inertia tensor of the body (in body coordinates)
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const Vector3& getLocalInertiaTensor() const;
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/// Set the local inertia tensor of the body (in body coordinates)
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void setLocalInertiaTensor(const Vector3& inertiaTensorLocal);
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/// Return the center of mass of the body (in local-space coordinates)
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const Vector3& getLocalCenterOfMass() const;
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/// Set the center of mass of the body (in local-space coordinates)
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void setLocalCenterOfMass(const Vector3& centerOfMass);
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/// Compute and set the local-space center of mass of the body using its colliders
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void updateLocalCenterOfMassFromColliders();
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/// Compute and set the local-space inertia tensor of the body using its colliders
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void updateLocalInertiaTensorFromColliders();
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/// Compute and set the mass of the body using its colliders
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void updateMassFromColliders();
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/// Compute and set the center of mass, the mass and the local-space inertia tensor of the body using its colliders
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void updateMassPropertiesFromColliders();
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/// Return the type of the body
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BodyType getType() const;
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/// Set the type of the body
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void setType(BodyType type);
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/// Return true if the gravity needs to be applied to this rigid body
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bool isGravityEnabled() const;
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/// Set the variable to know if the gravity is applied to this rigid body
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void enableGravity(bool isEnabled);
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/// Set the variable to know whether or not the body is sleeping
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void setIsSleeping(bool isSleeping);
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/// Return the linear velocity damping factor
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decimal getLinearDamping() const;
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/// Set the linear damping factor
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void setLinearDamping(decimal linearDamping);
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/// Return the angular velocity damping factor
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decimal getAngularDamping() const;
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/// Set the angular damping factor
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void setAngularDamping(decimal angularDamping);
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/// Return the lock translation factor
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const Vector3& getLinearLockAxisFactor() const;
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/// Set the linear lock factor
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void setLinearLockAxisFactor(const Vector3& linearLockAxisFactor) const;
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/// Return the lock rotation factor
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const Vector3& getAngularLockAxisFactor() const;
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/// Set the lock rotation factor
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void setAngularLockAxisFactor(const Vector3& angularLockAxisFactor) const;
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/// Manually apply an external force (in local-space) to the body at its center of mass.
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void applyLocalForceAtCenterOfMass(const Vector3& force);
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/// Manually apply an external force (in world-space) to the body at its center of mass.
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void applyWorldForceAtCenterOfMass(const Vector3& force);
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/// Manually apply an external force (in local-space) to the body at a given point (in local-space).
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void applyLocalForceAtLocalPosition(const Vector3& force, const Vector3& point);
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/// Manually apply an external force (in world-space) to the body at a given point (in local-space).
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void applyWorldForceAtLocalPosition(const Vector3& force, const Vector3& point);
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/// Manually apply an external force (in local-space) to the body at a given point (in world-space).
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void applyLocalForceAtWorldPosition(const Vector3& force, const Vector3& point);
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/// Manually apply an external force (in world-space) to the body at a given point (in world-space).
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void applyWorldForceAtWorldPosition(const Vector3& force, const Vector3& point);
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/// Manually apply an external torque to the body (in world-space).
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void applyWorldTorque(const Vector3& torque);
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/// Manually apply an external torque to the body (in local-space).
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void applyLocalTorque(const Vector3& torque);
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/// Reset the manually applied force to zero
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void resetForce();
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/// Reset the manually applied torque to zero
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void resetTorque();
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/// Return the total manually applied force on the body (in world-space)
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const Vector3& getForce() const;
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/// Return the total manually applied torque on the body (in world-space)
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const Vector3& getTorque() const;
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/// Return whether or not the body is allowed to sleep
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bool isAllowedToSleep() const;
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/// Set whether or not the body is allowed to go to sleep
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void setIsAllowedToSleep(bool isAllowedToSleep);
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/// Return whether or not the body is sleeping
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bool isSleeping() const;
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/// Set whether or not the body is active
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virtual void setIsActive(bool isActive) override;
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/// Create a new collider and add it to the body
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virtual Collider* addCollider(CollisionShape* collisionShape, const Transform& transform) override;
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/// Remove a collider from the body
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virtual void removeCollider(Collider* collider) override;
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#ifdef IS_RP3D_PROFILING_ENABLED
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/// Set the profiler
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void setProfiler(Profiler* profiler) override;
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#endif
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// -------------------- Friendship -------------------- //
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friend class PhysicsWorld;
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friend class ContactSolverSystem;
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friend class DynamicsSystem;
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friend class BallAndSocketJoint;
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friend class SliderJoint;
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friend class HingeJoint;
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friend class FixedJoint;
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friend class SolveBallAndSocketJointSystem;
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friend class SolveFixedJointSystem;
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friend class SolveHingeJointSystem;
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friend class SolveSliderJointSystem;
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friend class Joint;
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friend class Collider;
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};
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/// Compute the inverse of the inertia tensor in world coordinates.
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RP3D_FORCE_INLINE void RigidBody::computeWorldInertiaTensorInverse(const Matrix3x3& orientation, const Vector3& inverseInertiaTensorLocal, Matrix3x3& outInverseInertiaTensorWorld) {
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outInverseInertiaTensorWorld[0][0] = orientation[0][0] * inverseInertiaTensorLocal.x;
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outInverseInertiaTensorWorld[0][1] = orientation[1][0] * inverseInertiaTensorLocal.x;
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outInverseInertiaTensorWorld[0][2] = orientation[2][0] * inverseInertiaTensorLocal.x;
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outInverseInertiaTensorWorld[1][0] = orientation[0][1] * inverseInertiaTensorLocal.y;
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outInverseInertiaTensorWorld[1][1] = orientation[1][1] * inverseInertiaTensorLocal.y;
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outInverseInertiaTensorWorld[1][2] = orientation[2][1] * inverseInertiaTensorLocal.y;
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outInverseInertiaTensorWorld[2][0] = orientation[0][2] * inverseInertiaTensorLocal.z;
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outInverseInertiaTensorWorld[2][1] = orientation[1][2] * inverseInertiaTensorLocal.z;
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outInverseInertiaTensorWorld[2][2] = orientation[2][2] * inverseInertiaTensorLocal.z;
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outInverseInertiaTensorWorld = orientation * outInverseInertiaTensorWorld;
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}
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}
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#endif
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