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Irlan 2018-04-18 14:41:48 -03:00
parent d497fa4a23
commit 235b59a560
1 changed files with 1 additions and 4 deletions
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src/bounce/dynamics/shapes/hull_shape.cpp
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@ -100,12 +100,9 @@ void b3HullShape::ComputeMass(b3MassData* data, float32 density) const
// y = y1 + e1y * u + e2y * v
// z = z1 + e1z * u + e2z * v
// and 0 <= u, 0 <= v, u + v <= 1
// We can view the surface integral above also as
// int(g * norm(det(J)) * du * dv)
// where J is the Jacobian of the parametrization:
// J = [e1 e2]
// We integrate g over [0, 1 - v] and then over [0, 1].
// Let D = cross(e1, e2)
// Thus, using the fact that
// N_k = D / norm(D),
// the volume integral can be further simplified to