Method getLocalInertiaTensor

src/collision/shapes/CapsuleShape.cpp:51–67

Return the local inertia tensor of the capsule * @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 CapsuleShape::getLocalInertiaTensor(decimal mass) const {

	// The inertia tensor formula for a capsule can be found in : Game Engine Gems, Volume 1
	
    const decimal height = mHalfHeight + mHalfHeight;
    const decimal radiusSquare = mMargin * mMargin;
    const decimal heightSquare = height * height;
    const decimal radiusSquareDouble = radiusSquare + radiusSquare;
    const decimal factor1 = decimal(2.0) * mMargin / (decimal(4.0) * mMargin + decimal(3.0) * height);
    const decimal factor2 = decimal(3.0) * height / (decimal(4.0) * mMargin + decimal(3.0) * height);
    const decimal sum1 = decimal(0.4) * radiusSquareDouble;
    const decimal sum2 = decimal(0.75) * height * mMargin + decimal(0.5) * heightSquare;
    const decimal sum3 = decimal(0.25) * radiusSquare + decimal(1.0 / 12.0) * heightSquare;
    const decimal IxxAndzz = factor1 * mass * (sum1 + sum2) + factor2 * mass * sum3;
    const decimal Iyy = factor1 * mass * sum1 + factor2 * mass * decimal(0.25) * radiusSquareDouble;
    return Vector3(IxxAndzz, Iyy, IxxAndzz);
}

// Return true if a point is inside the collision shape
bool CapsuleShape::testPointInside(const Vector3& localPoint, Collider* /*collider*/) const {