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Methods to compute more accurate inertia tensor for btCompoundShape and btConvexTriangleMeshShape.

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Thanks to Ole K. for the fixes, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2562
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erwin.coumans
2008-09-04 18:20:32 +00:00
parent 5d2720d267
commit 7380db7653
5 changed files with 268 additions and 1 deletions
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7
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
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@@ -46,6 +46,13 @@ public:
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia"
///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the
///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
///of the collision object by the principal transform. This method also computes the volume of the convex mesh.
void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const;
};