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Add more details to the MassProperties constructors comments.

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Crozet Sébastien
2020-11-03 11:55:08 +01:00
parent 32b6e122c1
commit 5144cd6bf1
1 changed files with 8 additions and 3 deletions
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11
src/dynamics/mass_properties.rs
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@@ -25,7 +25,9 @@ pub struct MassProperties {
} }
impl MassProperties { impl MassProperties {
/// Initializes the mass properties from the given center-of-mass, mass, and angular inertia. /// Initializes the mass properties with the given center-of-mass, mass, and angular inertia.
///
/// The center-of-mass is specified in the local-space of the rigid-body.
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
pub fn new(local_com: Point<f32>, mass: f32, principal_inertia: f32) -> Self { pub fn new(local_com: Point<f32>, mass: f32, principal_inertia: f32) -> Self {
let inv_mass = utils::inv(mass); let inv_mass = utils::inv(mass);
@@ -39,7 +41,9 @@ impl MassProperties {
/// Initializes the mass properties from the given center-of-mass, mass, and principal angular inertia. /// Initializes the mass properties from the given center-of-mass, mass, and principal angular inertia.
/// ///
/// The principal angular inertia are the angular inertia along the coordinate axes. /// The center-of-mass is specified in the local-space of the rigid-body.
/// The principal angular inertia are the angular inertia along the coordinate axes in the local-space
/// of the rigid-body.
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
pub fn new(local_com: Point<f32>, mass: f32, principal_inertia: AngVector<f32>) -> Self { pub fn new(local_com: Point<f32>, mass: f32, principal_inertia: AngVector<f32>) -> Self {
Self::with_principal_inertia_frame(local_com, mass, principal_inertia, Rotation::identity()) Self::with_principal_inertia_frame(local_com, mass, principal_inertia, Rotation::identity())
@@ -47,8 +51,9 @@ impl MassProperties {
/// Initializes the mass properties from the given center-of-mass, mass, and principal angular inertia. /// Initializes the mass properties from the given center-of-mass, mass, and principal angular inertia.
/// ///
/// The center-of-mass is specified in the local-space of the rigid-body.
/// The principal angular inertia are the angular inertia along the coordinate axes defined by /// The principal angular inertia are the angular inertia along the coordinate axes defined by
/// the `principal_inertia_local_frame`. /// the `principal_inertia_local_frame` expressed in the local-space of the rigid-body.
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
pub fn with_principal_inertia_frame( pub fn with_principal_inertia_frame(
local_com: Point<f32>, local_com: Point<f32>,