R3MassProperties Struct Reference

Explicit mass and principal inertia, matching MassProperties constructors. More...

#include <rapier.h>

Data Fields
struct R3Vector	local_com
	Center of mass in local coordinates.
R3Real	mass
	Mass; nonnegative when supplied as input.
R3AngVector	principal_inertia
	Principal angular inertia; scalar in 2D, three diagonal entries in 3D.
struct R3Rotation	principal_inertia_local_frame
	Orientation of principal inertia axes in local coordinates (3D).

Detailed Description

Explicit mass and principal inertia, matching MassProperties constructors.

Zero mass/inertia means infinite.

Field Documentation

local_com

struct R3Vector R3MassProperties::local_com

Center of mass in local coordinates.

mass

R3Real R3MassProperties::mass

Mass; nonnegative when supplied as input.

principal_inertia

R3AngVector R3MassProperties::principal_inertia

Principal angular inertia; scalar in 2D, three diagonal entries in 3D.

principal_inertia_local_frame

struct R3Rotation R3MassProperties::principal_inertia_local_frame

Orientation of principal inertia axes in local coordinates (3D).

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The documentation for this struct was generated from the following file:

• rapier.h