Describes the mass and inertia properties of a body. Used during body construction only. More...

#include <MassProperties.h>

Public Member Functions
bool	DecomposePrincipalMomentsOfInertia (Mat44 &outRotation, Vec3 &outDiagonal) const

void	SetMassAndInertiaOfSolidBox (Vec3Arg inBoxSize, float inDensity)
	Set the mass and inertia of a box with edge size inBoxSize and density inDensity.

void	ScaleToMass (float inMass)
	Set the mass and scale the inertia tensor to match the mass.

void	Rotate (Mat44Arg inRotation)
	Rotate the inertia by 3x3 matrix inRotation.

void	Translate (Vec3Arg inTranslation)
	Translate the inertia by a vector inTranslation.

void	Scale (Vec3Arg inScale)
	Scale the mass and inertia by inScale, note that elements can be < 0 to flip the shape.

void	SaveBinaryState (StreamOut &inStream) const
	Saves the state of this object in binary form to inStream.

void	RestoreBinaryState (StreamIn &inStream)
	Restore the state of this object from inStream.

Static Public Member Functions
static Vec3	sGetEquivalentSolidBoxSize (float inMass, Vec3Arg inInertiaDiagonal)
	Calculates the size of the solid box that has an inertia tensor diagonal inInertiaDiagonal.

Public Attributes
float	mMass = 0.0f
	Mass of the shape (kg)

Mat44	mInertia = Mat44::sZero()
	Inertia tensor of the shape (kg m^2)

Detailed Description

Describes the mass and inertia properties of a body. Used during body construction only.

Member Function Documentation

◆ DecomposePrincipalMomentsOfInertia()

bool MassProperties::DecomposePrincipalMomentsOfInertia	(	Mat44 &	outRotation,
		Vec3 &	outDiagonal
	)		const

Using eigendecomposition, decompose the inertia tensor into a diagonal matrix D and a right-handed rotation matrix R so that the inertia tensor is \(R \: D \: R^{-1}\).

See also: https://en.wikipedia.org/wiki/Moment_of_inertia section 'Principal axes'

Parameters

outRotation	The rotation matrix R
outDiagonal	The diagonal of the diagonal matrix D

Returns: True if successful, false if failed

◆ RestoreBinaryState()

void MassProperties::RestoreBinaryState ( StreamIn & inStream )

Restore the state of this object from inStream.

◆ Rotate()

void MassProperties::Rotate ( Mat44Arg inRotation )

Rotate the inertia by 3x3 matrix inRotation.

◆ SaveBinaryState()

void MassProperties::SaveBinaryState ( StreamOut & inStream ) const

Saves the state of this object in binary form to inStream.

◆ Scale()

void MassProperties::Scale ( Vec3Arg inScale )

Scale the mass and inertia by inScale, note that elements can be < 0 to flip the shape.

◆ ScaleToMass()

void MassProperties::ScaleToMass ( float inMass )

Set the mass and scale the inertia tensor to match the mass.

◆ SetMassAndInertiaOfSolidBox()

void MassProperties::SetMassAndInertiaOfSolidBox	(	Vec3Arg	inBoxSize,
		float	inDensity
	)

Set the mass and inertia of a box with edge size inBoxSize and density inDensity.

◆ sGetEquivalentSolidBoxSize()

Vec3 MassProperties::sGetEquivalentSolidBoxSize	(	float	inMass,
		Vec3Arg	inInertiaDiagonal
	)

static

Calculates the size of the solid box that has an inertia tensor diagonal inInertiaDiagonal.

◆ Translate()

void MassProperties::Translate ( Vec3Arg inTranslation )

Translate the inertia by a vector inTranslation.

Member Data Documentation

◆ mInertia

Mat44 MassProperties::mInertia = Mat44::sZero()

Inertia tensor of the shape (kg m^2)

◆ mMass

float MassProperties::mMass = 0.0f

Mass of the shape (kg)

The documentation for this class was generated from the following files:

Jolt/Physics/Body/MassProperties.h
Jolt/Physics/Body/MassProperties.cpp

Public Member Functions

Static Public Member Functions

Public Attributes