Method getLocalInertiaTensor

src/collision/shapes/BoxShape.cpp:53–59

Return the local inertia tensor of the collision shape * @param mass Mass to use to compute the inertia tensor of the collision shape */

 * @param mass Mass to use to compute the inertia tensor of the collision shape
 */
Vector3 BoxShape::getLocalInertiaTensor(decimal mass) const {
    const decimal factor = (decimal(1.0) / decimal(3.0)) * mass;
    const decimal xSquare = mHalfExtents.x * mHalfExtents.x;
    const decimal ySquare = mHalfExtents.y * mHalfExtents.y;
    const decimal zSquare = mHalfExtents.z * mHalfExtents.z;
    return Vector3(factor * (ySquare + zSquare), factor * (xSquare + zSquare), factor * (xSquare + ySquare));
}

// Raycast method with feedback information
bool BoxShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, MemoryAllocator& /*allocator*/) const {