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Do we need to recalculate the inertial for cubes? #14

Closed BBBBBBob closed 3 years ago

BBBBBBob commented 3 years ago

Hi,

I have noticed when a sphere is added, its inertial is recalculated based on its radius and mass, but the inertial of the cube is not renewed, So should we also calculate the cube's inertial as the sphere does?

eastskykang commented 3 years ago

@BBBBBBob Hi, MOI local of cube is diag(1, 1, 1) (this is reasonable values considering dimension and mass of the cubes). So you don't need to change MOI. But remember, this is local MOI. You should compute MOI expressed in world for Newton-Euler equation.

BBBBBBob commented 3 years ago

@eastskykang Thank you for your answer!