Examples with SpatialInertia maspack.spatialmotion.SpatialInertia used on opensource projects

Example 16 with SpatialInertia

use of maspack.spatialmotion.SpatialInertia in project artisynth_core by artisynth.

the class RigidCompositeBody method addMeshInertia.

protected void addMeshInertia(MeshBase base, double density) {
    if (base == null) {
        throw new IllegalStateException("Mesh has not been set");
    }
    if (base instanceof PolygonalMesh) {
        PolygonalMesh mesh = (PolygonalMesh) base;
        SpatialInertia M = mesh.createInertia(density);
        mySpatialInertia.add(M);
    } else if (base instanceof PointMesh) {
    // XXX to implement
    } else if (base instanceof PolylineMesh) {
    // XXX to implement
    }
}