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Merge pull request #136 from dimforge/inertia_sqrt

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Fix missing sqrt when setting the angular inertia of a RigidBodyBuilder
This commit is contained in:
Sébastien Crozet
2021-03-03 10:35:54 +01:00
committed by GitHub
parent a74097b4c6 1609d93243
commit a8216f5c24
3 changed files with 7 additions and 4 deletions
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2
build/rapier_testbed2d/Cargo.toml
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@@ -26,7 +26,7 @@ other-backends = [ "wrapped2d", "nphysics2d" ]
[dependencies] [dependencies]
nalgebra = "0.25" nalgebra = { version = "0.25", features = [ "rand" ] }
kiss3d = { version = "0.30", features = [ "conrod" ] } kiss3d = { version = "0.30", features = [ "conrod" ] }
rand = "0.8" rand = "0.8"
rand_pcg = "0.3" rand_pcg = "0.3"

2
build/rapier_testbed3d/Cargo.toml
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@@ -25,7 +25,7 @@ parallel = [ "rapier3d/parallel", "num_cpus" ]
other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ] other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ]
[dependencies] [dependencies]
nalgebra = "0.25" nalgebra = { version = "0.25", features = [ "rand" ] }
kiss3d = { version = "0.30", features = [ "conrod" ] } kiss3d = { version = "0.30", features = [ "conrod" ] }
rand = "0.8" rand = "0.8"
rand_pcg = "0.3" rand_pcg = "0.3"

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
} }