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Mass properties: add a max number of iterations for the local-frame rotation computation.

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This commit is contained in:
Sébastien Crozet
2020-09-01 17:35:32 +02:00
parent 2f2a073ce4
commit fc0b3bf394
3 changed files with 20 additions and 16 deletions
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6
src/dynamics/mass_properties.rs
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@@ -209,7 +209,8 @@ impl Sub<MassProperties> for MassProperties {
let i2 = other.construct_shifted_inertia_matrix(local_com - other.local_com);
let inertia = i1 - i2;
let eigen = inertia.symmetric_eigen();
let principal_inertia_local_frame = Rotation::from_matrix(&eigen.eigenvectors);
let principal_inertia_local_frame =
Rotation::from_matrix_eps(&eigen.eigenvectors, 1.0e-6, 10, na::one());
let principal_inertia = eigen.eigenvalues;
// NOTE: we drop the negative eigenvalues that may result from subtraction rounding errors.
let inv_principal_inertia_sqrt = principal_inertia.map(|e| utils::inv(e.max(0.0).sqrt()));
@@ -272,7 +273,8 @@ impl Add<MassProperties> for MassProperties {
let i2 = other.construct_shifted_inertia_matrix(local_com - other.local_com);
let inertia = i1 + i2;
let eigen = inertia.symmetric_eigen();
let principal_inertia_local_frame = Rotation::from_matrix(&eigen.eigenvectors);
let principal_inertia_local_frame =
Rotation::from_matrix_eps(&eigen.eigenvectors, 1.0e-6, 10, na::one());
let principal_inertia = eigen.eigenvalues;
let inv_principal_inertia_sqrt = principal_inertia.map(|e| utils::inv(e.sqrt()));