diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/rigid_body_components.rs | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs index c03233d..f5698a4 100644 --- a/src/dynamics/rigid_body_components.rs +++ b/src/dynamics/rigid_body_components.rs @@ -571,10 +571,11 @@ impl RigidBodyVelocity { /// The approximate kinetic energy of this rigid-body. /// /// This approximation does not take the rigid-body's mass and angular inertia - /// into account. + /// into account. Some physics engines call this the "mass-normalized kinetic + /// energy". #[must_use] pub fn pseudo_kinetic_energy(&self) -> Real { - self.linvel.norm_squared() + self.angvel.gdot(self.angvel) + 0.5 * (self.linvel.norm_squared() + self.angvel.gdot(self.angvel)) } /// Returns the update velocities after applying the given damping. |