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Fix missing sqrt when setting the angular inertia of a rigid-body.

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Crozet Sébastien
2021-03-03 10:20:14 +01:00
parent 6247b0d48a
commit 1609d93243
1 changed files with 5 additions and 2 deletions
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7
src/dynamics/rigid_body.rs
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@@ -6,6 +6,7 @@ use crate::math::{
AngVector, AngularInertia, Isometry, Point, Real, Rotation, Translation, Vector, AngVector, AngularInertia, Isometry, Point, Real, Rotation, Translation, Vector,
}; };
use crate::utils::{self, WCross, WDot}; use crate::utils::{self, WCross, WDot};
use na::ComplexField;
use num::Zero; use num::Zero;
#[derive(Copy, Clone, Debug, PartialEq, Eq)] #[derive(Copy, Clone, Debug, PartialEq, Eq)]
@@ -804,7 +805,8 @@ impl RigidBodyBuilder {
/// Sets the angular inertia of this rigid-body. /// Sets the angular inertia of this rigid-body.
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
pub fn principal_angular_inertia(mut self, inertia: Real) -> Self { pub fn principal_angular_inertia(mut self, inertia: Real) -> Self {
self.mass_properties.inv_principal_inertia_sqrt = utils::inv(inertia); self.mass_properties.inv_principal_inertia_sqrt =
utils::inv(ComplexField::sqrt(inertia.max(0.0)));
self self
} }
@@ -829,7 +831,8 @@ impl RigidBodyBuilder {
/// attached to this rigid-body. /// attached to this rigid-body.
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
pub fn principal_angular_inertia(mut self, inertia: AngVector<Real>) -> Self { pub fn principal_angular_inertia(mut self, inertia: AngVector<Real>) -> Self {
self.mass_properties.inv_principal_inertia_sqrt = inertia.map(utils::inv); self.mass_properties.inv_principal_inertia_sqrt =
inertia.map(|e| utils::inv(ComplexField::sqrt(e.max(0.0))));
self self
} }