2 files changed, 6 insertions, 9 deletions
diff --git a/src/dynamics/mass_properties.rs b/src/dynamics/mass_properties.rs
index 22e7da5..d64839c 100644
--- a/src/dynamics/mass_properties.rs
+++ b/src/dynamics/mass_properties.rs
@@ -91,7 +91,7 @@ impl MassProperties {
     }
 
     #[cfg(feature = "dim3")]
-    /// Reconstructs the inverse angular inertia tensor of the rigid body from its principal inertia values and axii.
+    /// Reconstructs the inverse angular inertia tensor of the rigid body from its principal inertia values and axes.
     pub fn reconstruct_inverse_inertia_matrix(&self) -> Matrix3<f32> {
         let inv_principal_inertia = self.inv_principal_inertia_sqrt.map(|e| e * e);
         self.principal_inertia_local_frame.to_rotation_matrix()
@@ -103,7 +103,7 @@ impl MassProperties {
     }
 
     #[cfg(feature = "dim3")]
-    /// Reconstructs the angular inertia tensor of the rigid body from its principal inertia values and axii.
+    /// Reconstructs the angular inertia tensor of the rigid body from its principal inertia values and axes.
     pub fn reconstruct_inertia_matrix(&self) -> Matrix3<f32> {
         let principal_inertia = self.inv_principal_inertia_sqrt.map(|e| utils::inv(e * e));
         self.principal_inertia_local_frame.to_rotation_matrix()
diff --git a/src/dynamics/mass_properties_capsule.rs b/src/dynamics/mass_properties_capsule.rs
index 647cfc7..c4e039c 100644
--- a/src/dynamics/mass_properties_capsule.rs
+++ b/src/dynamics/mass_properties_capsule.rs
@@ -4,21 +4,19 @@ use crate::geometry::Capsule;
 use crate::math::{Point, PrincipalAngularInertia, Rotation, Vector};
 
 impl MassProperties {
-    pub(crate) fn from_capsule(density: f32, a: Point<f32>, b: Point<f32>, radius: f32) -> Self {
-        let half_height = (b - a).norm() / 2.0;
+    pub(crate) fn from_capsule(density: f32, half_height: f32, radius: f32) -> Self {
         let (cyl_vol, cyl_unit_i) = Self::cylinder_y_volume_unit_inertia(half_height, radius);
         let (ball_vol, ball_unit_i) = Self::ball_volume_unit_angular_inertia(radius);
         let cap_vol = cyl_vol + ball_vol;
         let cap_mass = cap_vol * density;
         let mut cap_unit_i = cyl_unit_i + ball_unit_i;
-        let local_com = na::center(&a, &b);
 
         #[cfg(feature = "dim2")]
         {
             let h = half_height * 2.0;
             let extra = h * h * 0.5 + h * radius * 3.0 / 8.0;
             cap_unit_i += extra;
-            Self::new(local_com, cap_mass, cap_unit_i * cap_mass)
+            Self::new(Point::origin(), cap_mass, cap_unit_i * cap_mass)
         }
 
         #[cfg(feature = "dim3")]
@@ -27,12 +25,11 @@ impl MassProperties {
             let extra = h * h * 0.5 + h * radius * 3.0 / 8.0;
             cap_unit_i.x += extra;
             cap_unit_i.z += extra;
-            let local_frame = Capsule::new(a, b, radius).rotation_wrt_y();
             Self::with_principal_inertia_frame(
-                local_com,
+                Point::origin(),
                 cap_mass,
                 cap_unit_i * cap_mass,
-                local_frame,
+                Rotation::identity(),
             )
         }
     }