Game Development Reference
In-Depth Information
A
C OMMON I NERTIA
A PPENDIX
T ENSORS
physical primitives. This can be used to generate an inertia tensor for almost
any game object.
Inertia tensors are discussed in chapter 10.
This appendix provides formulae for calculating the inertia tensor of a range of
A.1
D ISCRETE M ASSES
The inertia tensor of any set of masses, connected together to form a rigid body, is
I x
I xy
I xz
I
=
I xy
I y
I yz
[A.1]
I xz
I yz
I z
where
n
m i a p i
I a =
i
=
1
and
n
=
I ab
m i a p i b p i
i
=
1
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