Vector3<float> CollisionConvexHullShape::computeLocalInertia(float mass) const
{
AABBox<float> aabbox = toAABBox(PhysicsTransform());
float width = 2.0 * aabbox.getHalfSize(0);
float height = 2.0 * aabbox.getHalfSize(1);
float depth = 2.0 * aabbox.getHalfSize(2);
float localInertia1 = (1.0/12.0) * mass * (height*height + depth*depth);
float localInertia2 = (1.0/12.0) * mass * (width*width + depth*depth);
float localInertia3 = (1.0/12.0) * mass * (width*width + height*height);
return Vector3<float>(localInertia1, localInertia2, localInertia3);
}
void CollisionConvexHullShape::initializeDistances()
{
AABBox<float> aabbox = toAABBox(PhysicsTransform());
maxDistanceToCenter = aabbox.getMaxHalfSize();
minDistanceToCenter = aabbox.getMinHalfSize();
}