Game Development Reference
In-Depth Information
Rear left wheel:
r
′
= (−1.00, 0.35, −1.50) − (0, 1.01, 1.05) = (−1.00, −0.66, −2.55)
2
4
3.06
3
5
0
0
J
′
=
(kg m
2
)
0
1.70
0
0
0
1.70
2
4
(−0.66)
2
+ (−2.55)
2
3
5
−(−1.00) (−0.66)
−(−1.00) (−2.55)
(kg m
2
)
(−1.00)
2
+ (−2.55)
2
+ 50
−(−1.00) (−0.66)
−(−0.66) (−2.55)
(−1.00)
2
+ (−0.66)
2
−(−1.00) (−2.55)
−(−0.66) (−2.55)
2
4
350
3
5
−33.0
−128
(kg m
2
)
−33.0
377
−84.2
=
−128
−84.2
73.5
Rear right wheel:
r
′
= (1.00, 0.35, −1.50) − (0, 1.01, 1.05) = (1.00, −0.66, −2.55)
2
4
3.06
3
5
0
0
J
′
=
(kg m
2
)
0
1.70
0
0
0
1.70
2
4
(−0.66)
2
+ (−2.55)
2
3
5
−(1.00) (−0.66)
−(1.00) (−2.55)
(1.00)
2
+ (−2.55)
2
(kg m
2
)
+ 50
−(1.00) (−0.66)
−(−0.66) (−2.55)
(1.00)
2
+ (−0.66)
2
−(1.00) (−2.55)
−(−0.66) (−2.55)
2
4
350
3
5
33.0
128
(kg m
2
)
=
33.0
377
−84.2
128
−84.2
73.5
Total:
2
4
5110
3
5
0
0
(kg m
2
)
0
5690
−40
0
−40
1150
B.13
Chapter 13
(Page 711.)
t−t
2
t
1
−t
2
t−t
3
t
1
−t
3
t−1
0−1
t−2
0−2
1. ℓ
1
(t) =
=
= (t−1)(t−2)/2
= (t
2
−3t + 2)/2
t−t
1
t
2
−t
1
t−t
3
t
2
−t
3
t−0
1−0
t−2
1−2
ℓ
2
(t) =
=
= −t(t−2)
= −t
2
+ 2t
t−t
1
t
3
−t
1
t−t
2
t
3
−t
2
t−0
2−0
t−1
2−1
ℓ
3
(t) =
=
= t(t−1)/2
= (t
2
−t)/2
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