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; }