Add more details to the MassProperties constructors comments.

1 files changed, 8 insertions, 3 deletions

diff --git a/src/dynamics/mass_properties.rs b/src/dynamics/mass_properties.rs
index 9cc22a9..73e9b0d 100644
--- a/src/dynamics/mass_properties.rs
+++ b/src/dynamics/mass_properties.rs
@@ -25,7 +25,9 @@ pub struct MassProperties {
 }
 
 impl MassProperties {
-    /// Initializes the mass properties from the given center-of-mass, mass, and angular inertia.
+    /// Initializes the mass properties with the given center-of-mass, mass, and angular inertia.
+    ///
+    /// The center-of-mass is specified in the local-space of the rigid-body.
     #[cfg(feature = "dim2")]
     pub fn new(local_com: Point<f32>, mass: f32, principal_inertia: f32) -> Self {
         let inv_mass = utils::inv(mass);
@@ -39,7 +41,9 @@ impl MassProperties {
 
     /// Initializes the mass properties from the given center-of-mass, mass, and principal angular inertia.
     ///
-    /// The principal angular inertia are the angular inertia along the coordinate axes.
+    /// The center-of-mass is specified in the local-space of the rigid-body.
+    /// The principal angular inertia are the angular inertia along the coordinate axes in the local-space
+    /// of the rigid-body.
     #[cfg(feature = "dim3")]
     pub fn new(local_com: Point<f32>, mass: f32, principal_inertia: AngVector<f32>) -> Self {
         Self::with_principal_inertia_frame(local_com, mass, principal_inertia, Rotation::identity())
@@ -47,8 +51,9 @@ impl MassProperties {
 
     /// Initializes the mass properties from the given center-of-mass, mass, and principal angular inertia.
     ///
+    /// The center-of-mass is specified in the local-space of the rigid-body.
     /// The principal angular inertia are the angular inertia along the coordinate axes defined by
-    /// the `principal_inertia_local_frame`.
+    /// the `principal_inertia_local_frame` expressed in the local-space of the rigid-body.
     #[cfg(feature = "dim3")]
     pub fn with_principal_inertia_frame(
         local_com: Point<f32>,