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