diff --git a/src/bounce/dynamics/shapes/hull_shape.cpp b/src/bounce/dynamics/shapes/hull_shape.cpp index 122dbde..e476924 100644 --- a/src/bounce/dynamics/shapes/hull_shape.cpp +++ b/src/bounce/dynamics/shapes/hull_shape.cpp @@ -101,9 +101,9 @@ void b3HullShape::ComputeMass(b3MassData* data, float32 density) const // 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 * det(D) * du * dv) - // where D is the Jacobian of the parametrization: - // D = cross(e1, e2) + // 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]. // Thus, using the fact that