From 6982172e1a29137175377249b19d1c07e61bb375 Mon Sep 17 00:00:00 2001
From: vahrenkamp <vahrenkamp@042f3d55-54a8-47e9-b7fb-15903f145c44>
Date: Thu, 13 Jun 2013 09:56:19 +0000
Subject: [PATCH] Changed standard inertia matrix when mass is given.
git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@387 042f3d55-54a8-47e9-b7fb-15903f145c44
---
VirtualRobot/SceneObject.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/VirtualRobot/SceneObject.cpp b/VirtualRobot/SceneObject.cpp
index b8389c3f8..b0a70ad63 100644
--- a/VirtualRobot/SceneObject.cpp
+++ b/VirtualRobot/SceneObject.cpp
@@ -581,6 +581,8 @@ bool SceneObject::initializePhysics()
{
// standard box
physics.intertiaMatrix.setIdentity();
+ physics.intertiaMatrix *= 0.01f; // 10 cm bbox
+ physics.intertiaMatrix *= physics.massKg;
} else
{
Eigen::Vector3f minS,maxS;
--
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