diff options
| -rw-r--r-- | src/dynamics/mass_properties.rs | 16 |
1 files changed, 12 insertions, 4 deletions
diff --git a/src/dynamics/mass_properties.rs b/src/dynamics/mass_properties.rs index 586eaaf..22e7da5 100644 --- a/src/dynamics/mass_properties.rs +++ b/src/dynamics/mass_properties.rs @@ -300,14 +300,22 @@ impl approx::AbsDiffEq for MassProperties { } fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool { - self.local_com.abs_diff_eq(&other.local_com, epsilon) + #[cfg(feature = "dim2")] + let inertia_is_ok = self + .inv_principal_inertia_sqrt + .abs_diff_eq(&other.inv_principal_inertia_sqrt, epsilon); + + #[cfg(feature = "dim3")] + let inertia_is_ok = self + .reconstruct_inverse_inertia_matrix() + .abs_diff_eq(&other.reconstruct_inverse_inertia_matrix(), epsilon); + + inertia_is_ok + && self.local_com.abs_diff_eq(&other.local_com, epsilon) && self.inv_mass.abs_diff_eq(&other.inv_mass, epsilon) && self .inv_principal_inertia_sqrt .abs_diff_eq(&other.inv_principal_inertia_sqrt, epsilon) - // && self - // .principal_inertia_local_frame - // .abs_diff_eq(&other.principal_inertia_local_frame, epsilon) } } |