///////////////////////////////////////////////////////////////////////////////////////////////////
// OpenGL Mathematics Copyright (c) 2005 - 2012 G-Truc Creation (www.g-truc.net)
///////////////////////////////////////////////////////////////////////////////////////////////////
// Created : 2006-04-21
// Updated : 2006-12-06
// Licence : This source is under MIT License
// File    : glm/gtx/inertia.inl
///////////////////////////////////////////////////////////////////////////////////////////////////

namespace glm
{
	template <typename T>
	GLM_FUNC_QUALIFIER detail::tmat3x3<T> boxInertia3
	(
		T const & Mass, 
		detail::tvec3<T> const & Scale
	)
	{
		detail::tmat3x3<T> Result(T(1));
		Result[0][0] = (Scale.y * Scale.y + Scale.z * Scale.z) * Mass / T(12);
		Result[1][1] = (Scale.x * Scale.x + Scale.z * Scale.z) * Mass / T(12);
		Result[2][2] = (Scale.x * Scale.x + Scale.y * Scale.y) * Mass / T(12);
		return Result;
	}

	template <typename T>
	GLM_FUNC_QUALIFIER detail::tmat4x4<T> boxInertia4
	(
		T const & Mass, 
		detail::tvec3<T> const & Scale
	)
	{
		detail::tmat4x4<T> Result(T(1));
		Result[0][0] = (Scale.y * Scale.y + Scale.z * Scale.z) * Mass / T(12);
		Result[1][1] = (Scale.x * Scale.x + Scale.z * Scale.z) * Mass / T(12);
		Result[2][2] = (Scale.x * Scale.x + Scale.y * Scale.y) * Mass / T(12);
		return Result;
	}

	template <typename T>
	GLM_FUNC_QUALIFIER detail::tmat3x3<T> diskInertia3
	(
		T const & Mass, 
		T const & Radius
	)
	{
		T a = Mass * Radius * Radius / T(2);
		detail::tmat3x3<T> Result(a);
		Result[2][2] *= T(2);
		return Result;
	}

	template <typename T>
	GLM_FUNC_QUALIFIER detail::tmat4x4<T> diskInertia4
	(
		T const & Mass, 
		T const & Radius
	)
	{
		T a = Mass * Radius * Radius / T(2);
		detail::tmat4x4<T> Result(a);
		Result[2][2] *= T(2);
		Result[3][3] = T(1);
		return Result;
	}

	template <typename T>
	GLM_FUNC_QUALIFIER detail::tmat3x3<T> ballInertia3
	(
		T const & Mass, 
		T const & Radius
	)
	{
		T a = T(2) * Mass * Radius * Radius / T(5);
		return detail::tmat3x3<T>(a);
	}

	template <typename T>
	GLM_FUNC_QUALIFIER detail::tmat4x4<T> ballInertia4
	(
		T const & Mass, 
		T const & Radius
	)
	{
		T a = T(2) * Mass * Radius * Radius / T(5);
		detail::tmat4x4<T> Result(a);
		Result[3][3] = T(1);
		return Result;
	}

	template <typename T>
	GLM_FUNC_QUALIFIER detail::tmat3x3<T> sphereInertia3
	(
		T const & Mass, 
		T const & Radius
	)
	{
		T a = T(2) * Mass * Radius * Radius / T(3);
		return detail::tmat3x3<T>(a);
	}

	template <typename T>
	GLM_FUNC_QUALIFIER detail::tmat4x4<T> sphereInertia4
	(
		T const & Mass, 
		T const & Radius
	)
	{
		T a = T(2) * Mass * Radius * Radius / T(3);
		detail::tmat4x4<T> Result(a);
		Result[3][3] = T(1);
		return Result;
	}
}//namespace glm