------------------------------------------------------------ revno: 3608 committer: Jan Stransky <[email protected]> timestamp: Wed 2015-03-04 13:51:37 +0100 message: box inertia computation correction modified: py/utils.py
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=== modified file 'py/utils.py' --- py/utils.py 2014-12-01 18:29:59 +0000 +++ py/utils.py 2015-03-04 12:51:37 +0000 @@ -220,7 +220,8 @@ b=Body() b.shape=Box(extents=extents,color=color if color else randomColor(),wire=wire,highlight=highlight) V=8*extents[0]*extents[1]*extents[2] - geomInert=Vector3(4*(extents[1]**2+extents[2]**2),4*(extents[0]**2+extents[2]**2),4*(extents[0]**2+extents[1]**2)) + # I = m*dim**2/12. = (m=V) = V*(2*extent)**2/12. = V*extent**2*4/12. = V*extent**2/3. + geomInert=(V/3.)*Vector3(extents[1]**2+extents[2]**2,extents[0]**2+extents[2]**2,extents[0]**2+extents[1]**2) _commonBodySetup(b,V,geomInert,material,pos=center,dynamic=dynamic,fixed=fixed) b.state.ori=orientation b.mask=mask
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