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Wrong inertia calculation in <RigidBody<N> as BodyPart<N>>::add_local_inertia_and_com #280

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DasEtwas opened this issue Oct 10, 2020 · 0 comments · May be fixed by #282
Open

Wrong inertia calculation in <RigidBody<N> as BodyPart<N>>::add_local_inertia_and_com #280

DasEtwas opened this issue Oct 10, 2020 · 0 comments · May be fixed by #282

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@DasEtwas
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As the Parallel axis theorem shows, one cannot just add inertia tensors of two "objects" whose CoM isn't overlapping.

The method <RigidBody<N> as BodyPart<N>>::add_local_inertia_and_com just adds the given inertia to the local inertia.

// Update local inertia.
self.local_inertia += inertia;

found in:
https://github.com/dimforge/nphysics/blob/master/src/object/rigid_body.rs#L747-L766
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Fix angular inertia calculation in RigidBody::add_local_inertia_and_com DasEtwas/nphysics
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@DasEtwas