NewtonConvexCollisionCalculateInertialMatrix

NewtonConvexCollisionCalculateInertialMatrix

void NewtonConvexCollisionCalculateInertialMatrix( const NewtonCollision* convexCollision, dFloat* inertia, dFloat* origin)

Usage

Calculate the three principal axis and the the values of the inertia matrix of a convex collision objects.

Parameters

• const NewtonCollision convexCollision - is the pointer to a convex collision primitive.
• dFloat *inertia - pointer to and array of a least 3 floats to hold the values of the principal inertia.
• dFloat *origin - pointer to and array of a least 3 floats to hold the values of the center of mass for the principal inertia.

Remarks

• This function calculate a general inertial matrix for arbitrary convex collision including compound collisions.

• It should be noted that the generated inertia values should be multiplied by the object mass before calling NewtonBodySetMassMatrix

See also

NewtonBodySetMassMatrix NewtonBodyGetMassMatrix NewtonBodySetCentreOfMass NewtonBodyGetCentreOfMass