diff options
| author | Phillip <pacardon@u.washington.edu> | 2011-02-18 04:02:23 +0000 |
|---|---|---|
| committer | Phillip <pacardon@u.washington.edu> | 2011-02-18 04:02:23 +0000 |
| commit | 8c310d25ab2ce359b2e5383fbac937ac58f7feff (patch) | |
| tree | d2962e0fa2d8f8ceeb5cfb49e484c513e46113f7 /src/tesseract/objects/Toroid.java | |
| parent | 7331807050f7392e4354902c3f4ef24753ca6b32 (diff) | |
re-added inertial tensors.
Diffstat (limited to 'src/tesseract/objects/Toroid.java')
| -rw-r--r-- | src/tesseract/objects/Toroid.java | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/tesseract/objects/Toroid.java b/src/tesseract/objects/Toroid.java index 3150efb..7f88fcb 100644 --- a/src/tesseract/objects/Toroid.java +++ b/src/tesseract/objects/Toroid.java @@ -39,6 +39,14 @@ public class Toroid extends PhysicalObject { setShape(buildToroid(scale, sliceRadius, sliceDivisions,
arcRadius, arcDivisions));
+ if (inverseMass != 0) {
+ float a = sliceRadius * sliceRadius;
+ float c = arcRadius * arcRadius;
+ inverseInertiaTensor.m00 = 5f * a / 8f + c / 2f;
+ inverseInertiaTensor.m11 = 5f * a / 8f + c / 2f;;
+ inverseInertiaTensor.m22 = 3f * a / 4 + c;
+ inverseInertiaTensor.invert();
+ }
}
|