diff options
Diffstat (limited to 'src/dynamics/mass_properties.rs')
| -rw-r--r-- | src/dynamics/mass_properties.rs | 19 |
1 files changed, 16 insertions, 3 deletions
diff --git a/src/dynamics/mass_properties.rs b/src/dynamics/mass_properties.rs index d64839c..73e9b0d 100644 --- a/src/dynamics/mass_properties.rs +++ b/src/dynamics/mass_properties.rs @@ -25,8 +25,11 @@ pub struct MassProperties { } impl MassProperties { + /// 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(crate) fn new(local_com: Point<f32>, mass: f32, principal_inertia: f32) -> Self { + pub fn new(local_com: Point<f32>, mass: f32, principal_inertia: f32) -> Self { let inv_mass = utils::inv(mass); let inv_principal_inertia_sqrt = utils::inv(principal_inertia.sqrt()); Self { @@ -36,13 +39,23 @@ 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 in the local-space + /// of the rigid-body. #[cfg(feature = "dim3")] - pub(crate) fn new(local_com: Point<f32>, mass: f32, principal_inertia: AngVector<f32>) -> Self { + 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()) } + /// 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` expressed in the local-space of the rigid-body. #[cfg(feature = "dim3")] - pub(crate) fn with_principal_inertia_frame( + pub fn with_principal_inertia_frame( local_com: Point<f32>, mass: f32, principal_inertia: AngVector<f32>, |