AnotherFoxGuy/bounce
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ensure valid inertia tensors

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Irlan
2018-04-05 18:35:21 -03:00
parent f769edcec9
commit 87b4efc6b5
1 changed files with 12 additions and 2 deletions
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12
src/bounce/dynamics/body.cpp
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@@ -247,6 +247,10 @@ void b3Body::ResetMass()
// Shift inertia about the body origin into the body local center of mass. // Shift inertia about the body origin into the body local center of mass.
m_I = m_I - m_mass * b3Steiner(localCenter); m_I = m_I - m_mass * b3Steiner(localCenter);
B3_ASSERT(m_I.x.x > 0.0f);
B3_ASSERT(m_I.y.y > 0.0f);
B3_ASSERT(m_I.z.z > 0.0f);
// Compute inverse inertia about the body local center of mass. // Compute inverse inertia about the body local center of mass.
m_invI = b3Inverse(m_I); m_invI = b3Inverse(m_I);
@@ -360,6 +364,11 @@ void b3Body::SetMassData(const b3MassData* massData)
{ {
m_invMass = 1.0f / m_mass; m_invMass = 1.0f / m_mass;
m_I = massData->I - m_mass * b3Steiner(massData->center); m_I = massData->I - m_mass * b3Steiner(massData->center);
B3_ASSERT(m_I.x.x > 0.0f);
B3_ASSERT(m_I.y.y > 0.0f);
B3_ASSERT(m_I.z.z > 0.0f);
m_invI = b3Inverse(m_I); m_invI = b3Inverse(m_I);
m_worldInvI = b3RotateToFrame(m_invI, m_xf.rotation); m_worldInvI = b3RotateToFrame(m_invI, m_xf.rotation);
@@ -411,7 +420,8 @@ void b3Body::SetMassData(const b3MassData* massData)
// Move center of mass. // Move center of mass.
b3Vec3 oldCenter = m_sweep.worldCenter; b3Vec3 oldCenter = m_sweep.worldCenter;
m_sweep.localCenter = massData->center; m_sweep.localCenter = massData->center;
m_sweep.worldCenter0 = m_sweep.worldCenter = b3Mul(m_xf, m_sweep.localCenter); m_sweep.worldCenter = b3Mul(m_xf, m_sweep.localCenter);
m_sweep.worldCenter0 = m_sweep.worldCenter;
// Update center of mass velocity. // Update center of mass velocity.
m_linearVelocity += b3Cross(m_angularVelocity, m_sweep.worldCenter - oldCenter); m_linearVelocity += b3Cross(m_angularVelocity, m_sweep.worldCenter - oldCenter);