/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/core/geometry/geometry_compute_box_mass_properties.h

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#ifndef OPENTISSUE_CORE_GEOMETRY_GEOMETRY_COMPUTE_BOX_MASS_PROPERTIES_H
#define OPENTISSUE_CORE_GEOMETRY_GEOMETRY_COMPUTE_BOX_MASS_PROPERTIES_H
//
// OpenTissue Template Library
// - A generic toolbox for physics-based modeling and simulation.
// Copyright (C) 2008 Department of Computer Science, University of Copenhagen.
//
// OTTL is licensed under zlib: http://opensource.org/licenses/zlib-license.php
//
#include <OpenTissue/configuration.h>

namespace OpenTissue
{
  namespace geometry
  {

    template<typename real_type,typename vector3_type>
    void compute_box_mass_properties(
      vector3_type const & half_size,
      real_type const & density,
      real_type & mass,
      vector3_type & inertia
      )
    {
      real_type V = 8.*half_size(0)*half_size(1)*half_size(2);
      mass = density*V;
      inertia(0) = ((half_size(1)*half_size(1)+half_size(2)*half_size(2))*mass) / 3. ;
      inertia(1) = ((half_size(0)*half_size(0)+half_size(2)*half_size(2))*mass) / 3. ;
      inertia(2) = ((half_size(0)*half_size(0)+half_size(1)*half_size(1))*mass) / 3. ;
    }

  } //End of namespace geometry
} //End of namespace OpenTissue

// OPENTISSUE_CORE_GEOMETRY_GEOMETRY_COMPUTE_BOX_MASS_PROPERTIES_H
#endif