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authorJosh Jones <kilauea.jones@gmail.com>2021-03-22 20:10:11 -0700
committerJosh Jones <kilauea.jones@gmail.com>2021-03-22 20:10:11 -0700
commit9aadd0cde71cfe63cd10077266d8a59dad2647f6 (patch)
tree3730cd2657c53dcae982361f9066ba5ea8039e6a
parent03392009725b1a81928865d4f382a2de79e65f54 (diff)
[Godot Physics]: Correct typo in moment of inertia calculations.
The moment of inertia calculation for BoxShape is: ``` Vector3( (p_mass / 3.0) * (ly * ly + lz * lz), (p_mass / 3.0) * (lx * lx + lz * lz), (p_mass / 3.0) * (lx * lx + ly * ly)); ``` where the final line includes both the x and y extents. However, for CapsuleShape3D, CylinderShape3D, ConvexPolygonShape3D, ConcavePolygonShape3D, and HeightMapShape3D, the final line read `(p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y)`. I believe this is a mistake, considering the comment in each case mentions using an AABB approximation, which should follow the same approach as BoxShape. This change corrects the final line to include both the x and y components of the shape's extent.
-rw-r--r--servers/physics_3d/shape_3d_sw.cpp10
1 files changed, 5 insertions, 5 deletions
diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/shape_3d_sw.cpp
index 687a7b288f..bf0946a0e2 100644
--- a/servers/physics_3d/shape_3d_sw.cpp
+++ b/servers/physics_3d/shape_3d_sw.cpp
@@ -627,7 +627,7 @@ Vector3 CapsuleShape3DSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3(
(p_mass / 3.0) * (extents.y * extents.y + extents.z * extents.z),
(p_mass / 3.0) * (extents.x * extents.x + extents.z * extents.z),
- (p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y));
+ (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
void CapsuleShape3DSW::_setup(real_t p_height, real_t p_radius) {
@@ -807,7 +807,7 @@ Vector3 CylinderShape3DSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3(
(p_mass / 3.0) * (extents.y * extents.y + extents.z * extents.z),
(p_mass / 3.0) * (extents.x * extents.x + extents.z * extents.z),
- (p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y));
+ (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
void CylinderShape3DSW::_setup(real_t p_height, real_t p_radius) {
@@ -1064,7 +1064,7 @@ Vector3 ConvexPolygonShape3DSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3(
(p_mass / 3.0) * (extents.y * extents.y + extents.z * extents.z),
(p_mass / 3.0) * (extents.x * extents.x + extents.z * extents.z),
- (p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y));
+ (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
void ConvexPolygonShape3DSW::_setup(const Vector<Vector3> &p_vertices) {
@@ -1424,7 +1424,7 @@ Vector3 ConcavePolygonShape3DSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3(
(p_mass / 3.0) * (extents.y * extents.y + extents.z * extents.z),
(p_mass / 3.0) * (extents.x * extents.x + extents.z * extents.z),
- (p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y));
+ (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
struct _VolumeSW_BVH_Element {
@@ -1662,7 +1662,7 @@ Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const {
return Vector3(
(p_mass / 3.0) * (extents.y * extents.y + extents.z * extents.z),
(p_mass / 3.0) * (extents.x * extents.x + extents.z * extents.z),
- (p_mass / 3.0) * (extents.y * extents.y + extents.y * extents.y));
+ (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
void HeightMapShape3DSW::_setup(Vector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size) {