From 5e9f617bdfea01d0bd5e66daf7a5e55f8f94dbf0 Mon Sep 17 00:00:00 2001
From: Jesse Morgan <jesse@jesterpm.net>
Date: Wed, 16 Feb 2011 07:24:16 +0000
Subject: Started working on some inertia tensors for the chainlink. Made an
 adjustment to rotations in the ui.

---
 src/tesseract/objects/ChainLink2.java | 8 ++++++++
 1 file changed, 8 insertions(+)

(limited to 'src/tesseract/objects')

diff --git a/src/tesseract/objects/ChainLink2.java b/src/tesseract/objects/ChainLink2.java
index 0678c69..23a8097 100644
--- a/src/tesseract/objects/ChainLink2.java
+++ b/src/tesseract/objects/ChainLink2.java
@@ -83,6 +83,14 @@ public class ChainLink2 extends PhysicalObject {
 		
 		setShape(createShape(SLICE_COUNT, SLICE_DIVISIONS,
 				diameter, length, width));
+		
+		if (inverseMass != 0) {
+			final float radius2 = diameter / 2.0f * diameter / 2.0f;
+			inverseInertiaTensor.m00 = 1 / (8.0f * inverseMass) * (4 * radius2 + 5 * (length * length + width * width));
+			inverseInertiaTensor.m11 = inverseInertiaTensor.m00;
+			inverseInertiaTensor.m22 = 1 / (inverseMass) * (radius2 + 0.75f * (length * length + width * width));
+			inverseInertiaTensor.invert();
+		}
 	}
 
 	/**
-- 
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