diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/rigid_body.rs | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index 32c0cca..88f4069 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -6,6 +6,7 @@ use crate::math::{ AngVector, AngularInertia, Isometry, Point, Real, Rotation, Translation, Vector, }; use crate::utils::{self, WCross, WDot}; +use na::ComplexField; use num::Zero; #[derive(Copy, Clone, Debug, PartialEq, Eq)] @@ -804,7 +805,8 @@ impl RigidBodyBuilder { /// Sets the angular inertia of this rigid-body. #[cfg(feature = "dim2")] pub fn principal_angular_inertia(mut self, inertia: Real) -> Self { - self.mass_properties.inv_principal_inertia_sqrt = utils::inv(inertia); + self.mass_properties.inv_principal_inertia_sqrt = + utils::inv(ComplexField::sqrt(inertia.max(0.0))); self } @@ -829,7 +831,8 @@ impl RigidBodyBuilder { /// attached to this rigid-body. #[cfg(feature = "dim3")] pub fn principal_angular_inertia(mut self, inertia: AngVector<Real>) -> Self { - self.mass_properties.inv_principal_inertia_sqrt = inertia.map(utils::inv); + self.mass_properties.inv_principal_inertia_sqrt = + inertia.map(|e| utils::inv(ComplexField::sqrt(e.max(0.0)))); self } |