Inertia tensors and axes
Posted: Mon Feb 01, 2016 8:25 pm
Hello,
I am currently working on simulations using voxels to generate inertia tensors, com & mass
What i'm currently doing is giving the center of mass of my part to bullet using default motion state and giving it ixx, iyy and izz using the sum of all voxels (i.e ixx is the sum of (y*y+z*z)*m)
What I think I'm missing is that there is non-diagonal elements that should be used. If I understand well, I should align the center of mass transformation in such a way that non-diagonal elements are zero.
Us this why the centerOfMassOffset is a btTransform, To get inertia axes aligned?
How do I compute this transformation?
Thanks,
Best regards
I am currently working on simulations using voxels to generate inertia tensors, com & mass
What i'm currently doing is giving the center of mass of my part to bullet using default motion state and giving it ixx, iyy and izz using the sum of all voxels (i.e ixx is the sum of (y*y+z*z)*m)
What I think I'm missing is that there is non-diagonal elements that should be used. If I understand well, I should align the center of mass transformation in such a way that non-diagonal elements are zero.
Us this why the centerOfMassOffset is a btTransform, To get inertia axes aligned?
How do I compute this transformation?
Thanks,
Best regards