diff --git a/src/bounce/dynamics/shapes/hull_shape.cpp b/src/bounce/dynamics/shapes/hull_shape.cpp index e476924..6c5e802 100644 --- a/src/bounce/dynamics/shapes/hull_shape.cpp +++ b/src/bounce/dynamics/shapes/hull_shape.cpp @@ -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