static bool computeMassAndDiagInertia(Ext::InertiaTensorComputer& inertiaComp,
PxVec3& diagTensor, PxQuat& orient, PxReal& massOut, PxVec3& coM, bool lockCOM, const PxRigidBody& body, const char* errorStr)
{
// The inertia tensor and center of mass is relative to the actor at this point. Transform to the
// body frame directly if CoM is specified, else use computed center of mass
if (lockCOM)
{
inertiaComp.translate(-coM); // base the tensor on user's desired center of mass.
}
else
{
//get center of mass - has to be done BEFORE centering.
coM = inertiaComp.getCenterOfMass();
//the computed result now needs to be centered around the computed center of mass:
inertiaComp.center();
}
// The inertia matrix is now based on the body's center of mass desc.massLocalPose.p
massOut = inertiaComp.getMass();
diagTensor = PxDiagonalize(inertiaComp.getInertia(), orient);
if ((diagTensor.x > 0.0f) && (diagTensor.y > 0.0f) && (diagTensor.z > 0.0f))
return true;
else
{
Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__,
"%s: inertia tensor has negative components (ill-conditioned input expected). Approximation for inertia tensor will be used instead.", errorStr);
// keep center of mass but use the AABB as a crude approximation for the inertia tensor
PxBounds3 bounds = body.getWorldBounds();
PxTransform pose = body.getGlobalPose();
bounds = PxBounds3::transformFast(pose.getInverse(), bounds);
Ext::InertiaTensorComputer it(false);
it.setBox(bounds.getExtents());
it.scaleDensity(massOut / it.getMass());
PxMat33 inertia = it.getInertia();
diagTensor = PxVec3(inertia.column0.x, inertia.column1.y, inertia.column2.z);
orient = PxQuat(PxIdentity);
return true;
}
}
static bool computeMassAndDiagInertia(Ext::InertiaTensorComputer& inertiaComp,
PxVec3& diagTensor, PxQuat& orient, PxReal& massOut, PxVec3& coM, bool lockCOM)
{
// The inertia tensor and center of mass is relative to the actor at this point. Transform to the
// body frame directly if CoM is specified, else use computed center of mass
if (lockCOM)
{
inertiaComp.translate(-coM); // base the tensor on user's desired center of mass.
}
else
{
//get center of mass - has to be done BEFORE centering.
coM = inertiaComp.getCenterOfMass();
//the computed result now needs to be centered around the computed center of mass:
inertiaComp.center();
}
// The inertia matrix is now based on the body's center of mass desc.massLocalPose.p
massOut = inertiaComp.getMass();
diagTensor = PxDiagonalize(inertiaComp.getInertia(), orient);
return true;
}