From 1609d93243a74af6666e8b284969faa389f61677 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Wed, 3 Mar 2021 10:20:14 +0100 Subject: Fix missing sqrt when setting the angular inertia of a rigid-body. --- src/dynamics/rigid_body.rs | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) (limited to 'src') 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) -> 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 } -- cgit