diff options
| author | Sébastien Crozet <developer@crozet.re> | 2020-09-01 17:35:32 +0200 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2020-09-01 17:35:32 +0200 |
| commit | fc0b3bf39484029d956055943b38bb55ab2c5791 (patch) | |
| tree | cd7855d71e0858ea3c695e9498ed177c87b5c328 /src | |
| parent | 2f2a073ce47eaa17f44d88b9dc6cc56362c374e2 (diff) | |
| download | rapier-fc0b3bf39484029d956055943b38bb55ab2c5791.tar.gz rapier-fc0b3bf39484029d956055943b38bb55ab2c5791.tar.bz2 rapier-fc0b3bf39484029d956055943b38bb55ab2c5791.zip | |
Mass properties: add a max number of iterations for the local-frame rotation computation.
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/mass_properties.rs | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/dynamics/mass_properties.rs b/src/dynamics/mass_properties.rs index f2fce4b..586eaaf 100644 --- a/src/dynamics/mass_properties.rs +++ b/src/dynamics/mass_properties.rs @@ -209,7 +209,8 @@ impl Sub<MassProperties> for MassProperties { let i2 = other.construct_shifted_inertia_matrix(local_com - other.local_com); let inertia = i1 - i2; let eigen = inertia.symmetric_eigen(); - let principal_inertia_local_frame = Rotation::from_matrix(&eigen.eigenvectors); + let principal_inertia_local_frame = + Rotation::from_matrix_eps(&eigen.eigenvectors, 1.0e-6, 10, na::one()); let principal_inertia = eigen.eigenvalues; // NOTE: we drop the negative eigenvalues that may result from subtraction rounding errors. let inv_principal_inertia_sqrt = principal_inertia.map(|e| utils::inv(e.max(0.0).sqrt())); @@ -272,7 +273,8 @@ impl Add<MassProperties> for MassProperties { let i2 = other.construct_shifted_inertia_matrix(local_com - other.local_com); let inertia = i1 + i2; let eigen = inertia.symmetric_eigen(); - let principal_inertia_local_frame = Rotation::from_matrix(&eigen.eigenvectors); + let principal_inertia_local_frame = + Rotation::from_matrix_eps(&eigen.eigenvectors, 1.0e-6, 10, na::one()); let principal_inertia = eigen.eigenvalues; let inv_principal_inertia_sqrt = principal_inertia.map(|e| utils::inv(e.sqrt())); |