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Take local inertial frame into accound for abs comparison of MassProperties.

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This commit is contained in:
Sébastien Crozet
2020-09-01 17:47:21 +02:00
parent 1b7e343266
commit 939e569491
1 changed files with 12 additions and 4 deletions
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16
src/dynamics/mass_properties.rs
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@@ -300,14 +300,22 @@ impl approx::AbsDiffEq for MassProperties {
} }
fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool { fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
self.local_com.abs_diff_eq(&other.local_com, epsilon) #[cfg(feature = "dim2")]
let inertia_is_ok = self
.inv_principal_inertia_sqrt
.abs_diff_eq(&other.inv_principal_inertia_sqrt, epsilon);
#[cfg(feature = "dim3")]
let inertia_is_ok = self
.reconstruct_inverse_inertia_matrix()
.abs_diff_eq(&other.reconstruct_inverse_inertia_matrix(), epsilon);
inertia_is_ok
&& self.local_com.abs_diff_eq(&other.local_com, epsilon)
&& self.inv_mass.abs_diff_eq(&other.inv_mass, epsilon) && self.inv_mass.abs_diff_eq(&other.inv_mass, epsilon)
&& self && self
.inv_principal_inertia_sqrt .inv_principal_inertia_sqrt
.abs_diff_eq(&other.inv_principal_inertia_sqrt, epsilon) .abs_diff_eq(&other.inv_principal_inertia_sqrt, epsilon)
// && self
// .principal_inertia_local_frame
// .abs_diff_eq(&other.principal_inertia_local_frame, epsilon)
} }
} }