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use num::Zero;
use na::{self, RealField};
use crate::math::{AngularInertia, Point, DIM};
#[inline]
pub fn cylinder_volume<N: RealField>(half_height: N, radius: N) -> N {
if DIM == 2 {
half_height * radius * na::convert(4.0f64)
} else {
half_height * radius * radius * N::pi() * na::convert(2.0f64)
}
}
#[inline]
pub fn cylinder_area<N: RealField>(half_height: N, radius: N) -> N {
if DIM == 2 {
(half_height + radius) * na::convert(2.0f64)
} else {
let _pi = N::pi();
let basis = radius * radius * _pi;
let side = _pi * radius * (half_height + half_height) * na::convert(2.0f64);
side + basis + basis
}
}
#[inline]
pub fn cylinder_center_of_mass<N: RealField>() -> Point<N> {
Point::origin()
}
#[inline]
pub fn cylinder_unit_angular_inertia<N: RealField>(half_height: N, radius: N) -> AngularInertia<N> {
if DIM == 2 {
let _2: N = na::convert(2.0f64);
let _i12: N = na::convert(1.0f64 / 12.0);
let w = _i12 * _2 * _2;
let ix = w * half_height * half_height;
let iy = w * radius * radius;
let mut res = AngularInertia::zero();
res[(0, 0)] = ix + iy;
res
} else {
let sq_radius = radius * radius;
let sq_height = half_height * half_height * na::convert(4.0f64);
let off_principal = (sq_radius * na::convert(3.0f64) + sq_height) / na::convert(12.0f64);
let mut res = AngularInertia::zero();
res[(0, 0)] = off_principal.clone();
res[(1, 1)] = sq_radius / na::convert(2.0f64);
res[(2, 2)] = off_principal;
res
}
}