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This commit is contained in:
Irlan 2018-04-17 02:33:48 -03:00
parent 01eea90b3c
commit 1bb6eb9649
1 changed files with 2 additions and 2 deletions
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src/bounce/dynamics/shapes/hull_shape.cpp
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@ -95,7 +95,7 @@ void b3HullShape::ComputeMass(b3MassData* data, float32 density) const
// We need to compute surface integrals, where the g above is to be integrated along a triangle. // We need to compute surface integrals, where the g above is to be integrated along a triangle.
// Changing coordinates from (x, y, z) to (u, v) a formula for a integral along the triangle is // Changing coordinates from (x, y, z) to (u, v) a formula for a integral along the triangle is
// int(g(x(u, v), y(u, v), z(u, v)) * norm(cross(e1, e2)) * du * dv) // int(g(x(u, v), y(u, v), z(u, v)) * norm(cross(e1, e2)) * du * dv)
// where g is a parametrization for a triangle // where x, y, and z are given from the parametrization for a triangle
// x = x1 + e1x * u + e2x * v // x = x1 + e1x * u + e2x * v
// y = y1 + e1y * u + e2y * v // y = y1 + e1y * u + e2y * v
// z = z1 + e1z * u + e2z * v // z = z1 + e1z * u + e2z * v
@ -104,7 +104,7 @@ void b3HullShape::ComputeMass(b3MassData* data, float32 density) const
// int(g * det(D) * du * dv) // int(g * det(D) * du * dv)
// where D is the Jacobian of the parametrization: // where D is the Jacobian of the parametrization:
// D = cross(e1, e2) // D = cross(e1, e2)
// We integrate x, y, and z over [0, 1 - v] and then over [0, 1]. // We integrate g over [0, 1 - v] and then over [0, 1].
// Thus, using the fact that // Thus, using the fact that
// N_k = D / norm(D), // N_k = D / norm(D),