Vector3 Box::GetNormalLocalInertialTensor() const
{
// TODO: is this correct? I am not sure what the 'Normal' Inertial Tensor is
// interial matrix for box is
// | (y^2 + z^2) 0 0 |
// I = (M/12) * | 0 (x^2 + z^2) 0 |
// | 0 0 (x^2 + y^2) |
Vector3 size = 2*GetHalfSize();
float x2 = size.x * size.x;
float y2 = size.y * size.y;
float z2 = size.z * size.z;
return (GetNormalMass()/12.0) * Vector3((y2+z2), (x2+z2), (x2+y2));
}
float RigidBody::GetMass() const
{
return HasInfiniteMass() ? inf : GetNormalMass();
}
Vector3 Sphere::GetNormalLocalInertialTensor() const
{
return Vector3::UNIT_SCALE * (0.4f * GetNormalMass() * GetRadius() * GetRadius());
}
