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Merge pull request #67647 from Cykyrios/fix-rigidbody3d-inertia 

Fix RigidBody3D inertia calculation
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Clay John 2022-10-23 16:53:25 -07:00 committed by GitHub
parent 8b37511364 44b93006c4
commit a6fc95cd92
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1 changed files with 1 additions and 1 deletions
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servers/physics_3d/godot_body_3d.cpp
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@ -118,7 +118,7 @@ void GodotBody3D::update_mass_properties() {
shape_inertia_tensor = shape_basis * shape_inertia_tensor * shape_basis.transposed(); shape_inertia_tensor = shape_basis * shape_inertia_tensor * shape_basis.transposed();
Vector3 shape_origin = shape_transform.origin - center_of_mass_local; Vector3 shape_origin = shape_transform.origin - center_of_mass_local;
inertia_tensor += shape_inertia_tensor + (Basis() * shape_origin.dot(shape_origin) - shape_origin.outer(shape_origin)) * mass; inertia_tensor += shape_inertia_tensor + (Basis() * shape_origin.dot(shape_origin) - shape_origin.outer(shape_origin)) * mass_new;
} }
// Set the inertia to a valid value when there are no valid shapes. // Set the inertia to a valid value when there are no valid shapes.