static bool setMassAndUpdateInertia(bool multipleMassOrDensity, PxRigidBody& body, const PxReal* masses, PxU32 massCount, const PxVec3* massLocalPose, bool includeNonSimShapes)
{
bool success;
// default values in case there were no shapes
PxReal massOut = 1.0f;
PxVec3 diagTensor(1.0f,1.0f,1.0f);
PxQuat orient = PxQuat(PxIdentity);
bool lockCom = massLocalPose != NULL;
PxVec3 com = lockCom ? *massLocalPose : PxVec3(0);
const char* errorStr = "PxRigidBodyExt::setMassAndUpdateInertia";
if(masses && massCount)
{
Ext::InertiaTensorComputer inertiaComp(true);
if(computeMassAndInertia(multipleMassOrDensity, body, NULL, masses, massCount, includeNonSimShapes, inertiaComp))
{
success = true;
if (inertiaComp.getMass()!=0 && !computeMassAndDiagInertia(inertiaComp, diagTensor, orient, massOut, com, lockCom, body, errorStr))
success = false; // computeMassAndDiagInertia() failed (mass zero?)
if (massCount == 1)
massOut = masses[0]; // to cover special case where body has no simulation shape
}
else
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__,
"%s: Mass and inertia computation failed, setting mass to 1 and inertia to (1,1,1)", errorStr);
success = false;
}
}
else
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__,
"%s: No mass specified, setting mass to 1 and inertia to (1,1,1)", errorStr);
success = false;
}
PX_ASSERT(orient.isFinite());
PX_ASSERT(diagTensor.isFinite());
body.setMass(massOut);
body.setMassSpaceInertiaTensor(diagTensor);
body.setCMassLocalPose(PxTransform(com, orient));
return success;
}
static bool updateMassAndInertia(bool multipleMassOrDensity, PxRigidBody& body, const PxReal* densities, PxU32 densityCount, const PxVec3* massLocalPose, bool includeNonSimShapes)
{
bool success;
// default values in case there were no shapes
PxReal massOut = 1.0f;
PxVec3 diagTensor(1.f,1.f,1.f);
PxQuat orient = PxQuat(PxIdentity);
bool lockCom = massLocalPose != NULL;
PxVec3 com = lockCom ? *massLocalPose : PxVec3(0);
const char* errorStr = "PxRigidBodyExt::updateMassAndInertia";
if (densities && densityCount)
{
Ext::InertiaTensorComputer inertiaComp(true);
if(computeMassAndInertia(multipleMassOrDensity, body, densities, NULL, densityCount, includeNonSimShapes, inertiaComp))
{
if(inertiaComp.getMass()!=0 && computeMassAndDiagInertia(inertiaComp, diagTensor, orient, massOut, com, lockCom, body, errorStr))
success = true;
else
success = false; // body with no shapes provided or computeMassAndDiagInertia() failed
}
else
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__,
"%s: Mass and inertia computation failed, setting mass to 1 and inertia to (1,1,1)", errorStr);
success = false;
}
}
else
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__,
"%s: No density specified, setting mass to 1 and inertia to (1,1,1)", errorStr);
success = false;
}
PX_ASSERT(orient.isFinite());
PX_ASSERT(diagTensor.isFinite());
PX_ASSERT(PxIsFinite(massOut));
body.setMass(massOut);
body.setMassSpaceInertiaTensor(diagTensor);
body.setCMassLocalPose(PxTransform(com, orient));
return success;
}