public virtual void CalculateLocalInertia(float mass, ref IndexedVector3 inertia)
{
LockChildShapes();
inertia = IndexedVector3.Zero;
int i = GetVertexCount();
float pointmass = mass / ((float)i);
while (i-- != 0)
{
IndexedVector3 pointintertia;
GetVertex(i, out pointintertia);
pointintertia = GImpactMassUtil.GimGetPointInertia(ref pointintertia, pointmass);
inertia += pointintertia;
}
UnlockChildShapes();
}
//! Calculates the exact inertia tensor for this shape
public virtual void CalculateLocalInertia(float mass, ref IndexedVector3 inertia)
{
LockChildShapes();
inertia = IndexedVector3.Zero;
int i = GetNumChildShapes();
float shapemass = mass / ((float)i);
while (i-- != 0)
{
IndexedVector3 temp_inertia;
m_childShapes[i].CalculateLocalInertia(shapemass, out temp_inertia);
if (ChildrenHasTransform())
{
inertia = GImpactMassUtil.GimInertiaAddTransformed(ref inertia, ref temp_inertia, ref m_childTransforms.GetRawArray()[i]);
}
else
{
IndexedMatrix identity = IndexedMatrix.Identity;
inertia = GImpactMassUtil.GimInertiaAddTransformed(ref inertia, ref temp_inertia, ref identity);
}
}
}
