public override void GetMassProperties(PrimitiveProperties primitiveProperties, out float mass, out Vector3 centerOfMass, out Matrix inertiaTensor)
{
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
mass = primitiveProperties.MassOrDensity;
}
else
{
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
mass = GetVolume() * primitiveProperties.MassOrDensity;
else
mass = GetSurfaceArea() * primitiveProperties.MassOrDensity;
}
centerOfMass = this.transform.Position;
float Ixx;
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
Ixx = 0.4f * mass * radius;
else
Ixx = (2.0f / 3.0f) * mass * radius;
inertiaTensor = Matrix.Identity;
inertiaTensor.M11 = inertiaTensor.M22 = inertiaTensor.M33 = Ixx;
// Transfer of axe theorem
inertiaTensor.M11 = inertiaTensor.M11 + mass * (centerOfMass.Y * centerOfMass.Y + centerOfMass.Z * centerOfMass.Z);
inertiaTensor.M22 = inertiaTensor.M22 + mass * (centerOfMass.Z * centerOfMass.Z + centerOfMass.X * centerOfMass.X);
inertiaTensor.M33 = inertiaTensor.M33 + mass * (centerOfMass.X * centerOfMass.X + centerOfMass.Y * centerOfMass.Y);
inertiaTensor.M12 = inertiaTensor.M21 = inertiaTensor.M12 - mass * centerOfMass.X * centerOfMass.Y;
inertiaTensor.M23 = inertiaTensor.M32 = inertiaTensor.M23 - mass * centerOfMass.Y * centerOfMass.Z;
inertiaTensor.M31 = inertiaTensor.M13 = inertiaTensor.M31 - mass * centerOfMass.Z * centerOfMass.X;
}
/// <summary>
/// GetMassPropertiees
/// </summary>
/// <param name="primitiveProperties"></param>
/// <param name="mass"></param>
/// <param name="centerOfMass"></param>
/// <param name="inertiaTensor"></param>
public override void GetMassProperties(PrimitiveProperties primitiveProperties, out float mass, out Vector3 centerOfMass, out Matrix4 inertiaTensor)
{
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
mass = primitiveProperties.MassOrDensity;
}
else
{
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
{
mass = GetVolume() * primitiveProperties.MassOrDensity;
}
else
{
mass = GetSurfaceArea() * primitiveProperties.MassOrDensity;
}
}
centerOfMass = transform.Position + 0.5f * length * transform.Orientation.Backward();
// todo check solid/shell
// first cylinder
float cylinderMass = mass * MathHelper.Pi * radius * radius * length / GetVolume();
float Ixx = 0.5f * cylinderMass * radius * radius;
float Iyy = 0.25f * cylinderMass * radius * radius + (1.0f / 12.0f) * cylinderMass * length * length;
float Izz = Iyy;
// add ends
float endMass = mass - cylinderMass;
Ixx += 0.4f * endMass * radius * radius;
Iyy += 0.4f * endMass * radius * radius + endMass * (0.5f * length) * (0.5f * length);
Izz += 0.4f * endMass * radius * radius + endMass * (0.5f * length) * (0.5f * length);
inertiaTensor = Matrix4.Identity;
inertiaTensor.M11 = Ixx;
inertiaTensor.M22 = Iyy;
inertiaTensor.M33 = Izz;
// transform - e.g. see p664 of Physics-Based Animation
// todo is the order correct here? Does it matter?
// Calculate the tensor in a frame at the CoM, but aligned with the world axes
inertiaTensor = transform.Orientation * inertiaTensor * Matrix4.Transpose(transform.Orientation);
// Transfer of axe theorem
inertiaTensor.M11 = inertiaTensor.M11 + mass * (centerOfMass.Y * centerOfMass.Y + centerOfMass.Z * centerOfMass.Z);
inertiaTensor.M22 = inertiaTensor.M22 + mass * (centerOfMass.Z * centerOfMass.Z + centerOfMass.X * centerOfMass.X);
inertiaTensor.M33 = inertiaTensor.M33 + mass * (centerOfMass.X * centerOfMass.X + centerOfMass.Y * centerOfMass.Y);
inertiaTensor.M12 = inertiaTensor.M21 = inertiaTensor.M12 - mass * centerOfMass.X * centerOfMass.Y;
inertiaTensor.M23 = inertiaTensor.M32 = inertiaTensor.M23 - mass * centerOfMass.Y * centerOfMass.Z;
inertiaTensor.M31 = inertiaTensor.M13 = inertiaTensor.M31 - mass * centerOfMass.Z * centerOfMass.X;
}
protected Vector3 SetMass(float mass)
{
PrimitiveProperties primitiveProperties = new PrimitiveProperties(PrimitiveProperties.MassDistributionEnum.Solid,
PrimitiveProperties.MassTypeEnum.Density, mass);
float junk; Vector3 com; Matrix it, itCoM;
collision.GetMassProperties(primitiveProperties, out junk, out com, out it, out itCoM);
body.BodyInertia = itCoM;
body.Mass = junk;
return com;
}
public override void GetMassProperties(PrimitiveProperties primitiveProperties, out float mass, out Vector3 centerOfMass, out Matrix inertiaTensor)
{
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
mass = primitiveProperties.MassOrDensity;
}
else
{
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
mass = GetVolume() * primitiveProperties.MassOrDensity;
else
mass = GetSurfaceArea() * primitiveProperties.MassOrDensity;
}
centerOfMass = transform.Position + 0.5f * length * transform.Orientation.Backward;
/// todo check solid/shell
// first cylinder
float cylinderMass = mass * MathHelper.Pi * radius * radius * length / GetVolume();
float Ixx = 0.5f * cylinderMass * radius * radius;
float Iyy = 0.25f * cylinderMass * radius * radius + (1.0f / 12.0f) * cylinderMass * length * length;
float Izz = Iyy;
// add ends
float endMass = mass - cylinderMass;
Ixx += 0.2f * endMass * radius * radius;
Iyy += 0.4f * endMass * radius * radius + endMass * (0.5f * length) * (0.5f * length);
Izz += 0.4f * endMass * radius * radius + endMass * (0.5f * length) * (0.5f * length);
inertiaTensor = Matrix.Identity;
inertiaTensor.M11 = Ixx;
inertiaTensor.M22 = Iyy;
inertiaTensor.M33 = Izz;
// transform - e.g. see p664 of Physics-Based Animation
// todo is the order correct here? Does it matter?
// Calculate the tensor in a frame at the CoM, but aligned with the world axes
inertiaTensor = transform.Orientation * inertiaTensor * Matrix.Transpose(transform.Orientation);
// Transfer of axe theorem
inertiaTensor.M11 = inertiaTensor.M11 + mass * (centerOfMass.Y * centerOfMass.Y + centerOfMass.Z * centerOfMass.Z);
inertiaTensor.M22 = inertiaTensor.M22 + mass * (centerOfMass.Z * centerOfMass.Z + centerOfMass.X * centerOfMass.X);
inertiaTensor.M33 = inertiaTensor.M33 + mass * (centerOfMass.X * centerOfMass.X + centerOfMass.Y * centerOfMass.Y);
inertiaTensor.M12 = inertiaTensor.M21 = inertiaTensor.M12 - mass * centerOfMass.X * centerOfMass.Y;
inertiaTensor.M23 = inertiaTensor.M32 = inertiaTensor.M23 - mass * centerOfMass.Y * centerOfMass.Z;
inertiaTensor.M31 = inertiaTensor.M13 = inertiaTensor.M31 - mass * centerOfMass.Z * centerOfMass.X;
}
/// <summary>
/// GetMassProperties
/// </summary>
/// <param name="primitiveProperties"></param>
/// <param name="mass"></param>
/// <param name="centerOfMass"></param>
/// <param name="inertiaTensor"></param>
public override void GetMassProperties(PrimitiveProperties primitiveProperties, out float mass, out Vector3 centerOfMass, out Matrix inertiaTensor)
{
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
mass = primitiveProperties.MassOrDensity;
}
else
{
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
{
mass = GetVolume() * primitiveProperties.MassOrDensity;
}
else
{
mass = GetSurfaceArea() * primitiveProperties.MassOrDensity;
}
}
centerOfMass = GetCentre();
// First calculate inertia in local frame, then shift to origin
Vector3 sides = sideLengths;
// todo check solid/shell
float Ixx = (1.0f / 12.0f) * mass * (sides.Y * sides.Y + sides.Z * sides.Z);
float Iyy = (1.0f / 12.0f) * mass * (sides.X * sides.X + sides.Z * sides.Z);
float Izz = (1.0f / 12.0f) * mass * (sides.X * sides.X + sides.Y * sides.Y);
inertiaTensor = Matrix.Identity;
inertiaTensor.M11 = Ixx;
inertiaTensor.M22 = Iyy;
inertiaTensor.M33 = Izz;
// transform - e.g. see p664 of Physics-Based Animation
// todo is the order correct here? Does it matter?
// Calculate the tensor in a frame at the CoM, but aligned with the world axes
inertiaTensor = Matrix.Transpose(transform.Orientation) * inertiaTensor * transform.Orientation;
// Transfer of axe theorem
inertiaTensor.M11 = inertiaTensor.M11 + mass * (centerOfMass.Y * centerOfMass.Y + centerOfMass.Z * centerOfMass.Z);
inertiaTensor.M22 = inertiaTensor.M22 + mass * (centerOfMass.Z * centerOfMass.Z + centerOfMass.X * centerOfMass.X);
inertiaTensor.M33 = inertiaTensor.M33 + mass * (centerOfMass.X * centerOfMass.X + centerOfMass.Y * centerOfMass.Y);
inertiaTensor.M12 = inertiaTensor.M21 = inertiaTensor.M12 - mass * centerOfMass.X * centerOfMass.Y;
inertiaTensor.M23 = inertiaTensor.M32 = inertiaTensor.M23 - mass * centerOfMass.Y * centerOfMass.Z;
inertiaTensor.M31 = inertiaTensor.M13 = inertiaTensor.M31 - mass * centerOfMass.Z * centerOfMass.X;
}
public override void GetMassProperties(PrimitiveProperties primitiveProperties, out float mass, out Vector3 centerOfMass, out Matrix inertiaTensor)
{
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
mass = primitiveProperties.MassOrDensity;
}
else
{
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
{
mass = GetVolume() * primitiveProperties.MassOrDensity;
}
else
{
mass = GetSurfaceArea() * primitiveProperties.MassOrDensity;
}
}
centerOfMass = this.transform.Position;
float Ixx;
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
{
Ixx = 0.4f * mass * radius;
}
else
{
Ixx = (2.0f / 3.0f) * mass * radius;
}
inertiaTensor = Matrix.Identity;
inertiaTensor.M11 = inertiaTensor.M22 = inertiaTensor.M33 = Ixx;
// Transfer of axe theorem
inertiaTensor.M11 = inertiaTensor.M11 + mass * (centerOfMass.Y * centerOfMass.Y + centerOfMass.Z * centerOfMass.Z);
inertiaTensor.M22 = inertiaTensor.M22 + mass * (centerOfMass.Z * centerOfMass.Z + centerOfMass.X * centerOfMass.X);
inertiaTensor.M33 = inertiaTensor.M33 + mass * (centerOfMass.X * centerOfMass.X + centerOfMass.Y * centerOfMass.Y);
inertiaTensor.M12 = inertiaTensor.M21 = inertiaTensor.M12 - mass * centerOfMass.X * centerOfMass.Y;
inertiaTensor.M23 = inertiaTensor.M32 = inertiaTensor.M23 - mass * centerOfMass.Y * centerOfMass.Z;
inertiaTensor.M31 = inertiaTensor.M13 = inertiaTensor.M31 - mass * centerOfMass.Z * centerOfMass.X;
}
private Vector3 SetMass(float mass)
{
PrimitiveProperties primitiveProperties = new PrimitiveProperties(
PrimitiveProperties.MassDistributionEnum.Solid,
PrimitiveProperties.MassTypeEnum.Mass, mass);
float junk = 0.0f;
Vector3 com = Vector3.Zero;
Matrix it = Matrix.Identity;
Matrix itCom = Matrix.Identity;
if (m_Skin != null)
m_Skin.GetMassProperties(primitiveProperties, out junk, out com, out it, out itCom);
if (m_Body != null)
{
m_Body.BodyInertia = itCom;
m_Body.Mass = junk;
}
return com;
}
/// <summary>
/// Helper to calculate the combined mass, centre of mass, and
/// inertia tensor about the origin and the CoM (for the local
/// primitives) primitiveProperties is an array of properties -
/// must be the same number as there are primitives
/// </summary>
/// <param name="primitiveProperties"></param>
/// <param name="mass"></param>
/// <param name="centerOfMass"></param>
/// <param name="inertiaTensor"></param>
/// <param name="inertiaTensorCoM"></param>
public void GetMassProperties(PrimitiveProperties[] primitiveProperties,
out float mass, out Vector3 centerOfMass, out Matrix inertiaTensor, out Matrix inertiaTensorCoM)
{
mass = 0.0f;
centerOfMass = Vector3.Zero;
inertiaTensor = Matrix.Identity;
inertiaTensorCoM = Matrix.Identity;
for (int prim = primitivesLocal.Count; prim-- != 0; )
{
float m;
Vector3 com;
Matrix it;
primitivesLocal[prim].GetMassProperties(primitiveProperties[prim], out m, out com, out it);
mass += m;
centerOfMass += m * com;
inertiaTensor += it;
}
if (mass > 0.0f)
{
centerOfMass /= mass;
// Transfer of axe theorem
inertiaTensorCoM.M11 = inertiaTensor.M11 - mass * (centerOfMass.Y * centerOfMass.Y + centerOfMass.Z * centerOfMass.Z);
inertiaTensorCoM.M22 = inertiaTensor.M22 - mass * (centerOfMass.Z * centerOfMass.Z + centerOfMass.X * centerOfMass.X);
inertiaTensorCoM.M33 = inertiaTensor.M33 - mass * (centerOfMass.X * centerOfMass.X + centerOfMass.Y * centerOfMass.Y);
// CHECK THIS. seems strange for me
inertiaTensorCoM.M12 = inertiaTensorCoM.M21 = inertiaTensor.M12 + mass * centerOfMass.X * centerOfMass.Y;
inertiaTensorCoM.M23 = inertiaTensorCoM.M32 = inertiaTensor.M23 + mass * centerOfMass.Y * centerOfMass.Z;
inertiaTensorCoM.M31 = inertiaTensorCoM.M13 = inertiaTensor.M31 + mass * centerOfMass.Z * centerOfMass.X;
}
}
/// <summary>
/// Helper to calculate the combined mass, centre of mass, and
/// inertia tensor about the origin and the CoM (for the local
/// primitives) primitiveProperties indicates the properties used
/// for all primitives - so the mass is the total mass
/// </summary>
/// <param name="primitiveProperties"></param>
/// <param name="mass"></param>
/// <param name="centerOfMass"></param>
/// <param name="inertiaTensor"></param>
/// <param name="inertiaTensorCoM"></param>
public void GetMassProperties(PrimitiveProperties primitiveProperties,
out float mass, out Vector3 centerOfMass, out Matrix inertiaTensor, out Matrix inertiaTensorCoM)
{
mass = 0.0f;
centerOfMass = Vector3.Zero;
inertiaTensor = new Matrix();
float totalWeighting = 0.0f;
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
for (int prim = primitivesLocal.Count; prim-- != 0; )
{
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
totalWeighting += primitivesLocal[prim].GetVolume();
else
totalWeighting += primitivesLocal[prim].GetSurfaceArea();
}
}
for (int prim = primitivesLocal.Count; prim-- != 0; )
{
float m; Vector3 com; Matrix it;
PrimitiveProperties primProperties = primitiveProperties;
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
float weighting = 0.0f;
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
weighting = primitivesLocal[prim].GetVolume();
else
weighting = primitivesLocal[prim].GetSurfaceArea();
primProperties.MassOrDensity *= weighting / totalWeighting;
}
primitivesLocal[prim].GetMassProperties(primProperties, out m, out com, out it);
mass += m;
centerOfMass += m * com;
inertiaTensor += it;
}
inertiaTensorCoM = Matrix.Identity;
if (mass > 0.0f)
{
centerOfMass /= mass;
// Transfer of axe theorem
inertiaTensorCoM.M11 = inertiaTensor.M11 - mass * (centerOfMass.Y * centerOfMass.Y + centerOfMass.Z * centerOfMass.Z);
inertiaTensorCoM.M22 = inertiaTensor.M22 - mass * (centerOfMass.Z * centerOfMass.Z + centerOfMass.X * centerOfMass.X);
inertiaTensorCoM.M33 = inertiaTensor.M33 - mass * (centerOfMass.X * centerOfMass.X + centerOfMass.Y * centerOfMass.Y);
// CHECK THIS. seems strange for me
inertiaTensorCoM.M12 = inertiaTensorCoM.M21 = inertiaTensor.M12 + mass * centerOfMass.X * centerOfMass.Y;
inertiaTensorCoM.M23 = inertiaTensorCoM.M32 = inertiaTensor.M23 + mass * centerOfMass.Y * centerOfMass.Z;
inertiaTensorCoM.M31 = inertiaTensorCoM.M13 = inertiaTensor.M31 + mass * centerOfMass.Z * centerOfMass.X;
}
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
mass = primitiveProperties.MassOrDensity;
}
public override void GetMassProperties(PrimitiveProperties primitiveProperties, out float mass, out Vector3 centerOfMass, out Matrix inertiaTensor)
{
mass = 0.0f;
centerOfMass = Vector3.Zero;
inertiaTensor = Matrix.Identity;
}
private void SetupProperty(Vector3 position, Matrix orientation )
{
PrimitiveProperties primitiveProp = new PrimitiveProperties(
PrimitiveProperties.MassDistributionEnum.Solid,
PrimitiveProperties.MassTypeEnum.Density,
mass);
float outMass;
Vector3 outCenterOfMass;
Matrix outInertiaTensor;
Matrix outInertiaTensorCoM;
CollisionSkin.GetMassProperties(
primitiveProp,
out outMass,
out outCenterOfMass,
out outInertiaTensor,
out outInertiaTensorCoM);
CollisionSkin.ApplyLocalTransform(
new Transform(-outCenterOfMass, orientation));
this.centerOfMass = outCenterOfMass;
body.BodyInertia = outInertiaTensorCoM;
body.Mass = outMass;
body.MoveTo(position, orientation);
body.CollisionSkin = CollisionSkin;
body.EnableBody();
}
/// <summary>
/// Returns the mass, center of mass, and intertia tensor around the origin
/// </summary>
/// <param name="primitiveProperties"></param>
/// <param name="mass"></param>
/// <param name="centerOfMass"></param>
/// <param name="inertiaTensor"></param>
public abstract void GetMassProperties(PrimitiveProperties primitiveProperties,
out float mass, out Vector3 centerOfMass, out Matrix4 inertiaTensor);
private Vector3 ApplyMass(float mass)
{
float junk;
Vector3 com;
Microsoft.Xna.Framework.Matrix it;
Microsoft.Xna.Framework.Matrix itCoM;
var primitiveProperties = new PrimitiveProperties(PrimitiveProperties.MassDistributionEnum.Solid, PrimitiveProperties.MassTypeEnum.Mass, mass);
collisionSkin.GetMassProperties(primitiveProperties, out junk, out com, out it, out itCoM);
PhysicsBody.BodyInertia = itCoM;
PhysicsBody.Mass = junk;
return com;
}
private static Vector3 SetMass(float mass, CollisionSkin skin, Body body)
{
PrimitiveProperties primitiveProperties = new PrimitiveProperties(
PrimitiveProperties.MassDistributionEnum.Solid,
PrimitiveProperties.MassTypeEnum.Mass, mass);
float junk;
Vector3 com;
Matrix4 it;
Matrix4 itCoM;
skin.GetMassProperties(primitiveProperties, out junk, out com, out it, out itCoM);
body.BodyInertia = itCoM;
body.Mass = junk;
return com;
}
private Vector3 SetMass(float mass)
{
PrimitiveProperties primitiveProperties = new PrimitiveProperties(
PrimitiveProperties.MassDistributionEnum.Solid,
PrimitiveProperties.MassTypeEnum.Mass, mass);
float junk;
Vector3 com;
Matrix it;
Matrix itCoM;
Skin.GetMassProperties(primitiveProperties, out junk, out com, out it, out itCoM);
Body.BodyInertia = itCoM;
Body.Mass = junk;
return com;
}
public override void GetMassProperties(PrimitiveProperties primitiveProperties, out float mass, out Vector3 centerOfMass, out Matrix inertiaTensor)
{
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
mass = primitiveProperties.MassOrDensity;
}
else
{
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
mass = GetVolume() * primitiveProperties.MassOrDensity;
else
mass = GetSurfaceArea() * primitiveProperties.MassOrDensity;
}
centerOfMass = GetCentre();
// First calculate inertia in local frame, then shift to origin
Vector3 sides = sideLengths;
// todo check solid/shell
float Ixx = (1.0f / 12.0f) * mass * (sides.Y * sides.Y + sides.Z * sides.Z);
float Iyy = (1.0f / 12.0f) * mass * (sides.X * sides.X + sides.Z * sides.Z);
float Izz = (1.0f / 12.0f) * mass * (sides.X * sides.X + sides.Y * sides.Y);
inertiaTensor = Matrix.Identity;
inertiaTensor.M11 = Ixx;
inertiaTensor.M22 = Iyy;
inertiaTensor.M33 = Izz;
// transform - e.g. see p664 of Physics-Based Animation
// todo is the order correct here? Does it matter?
// Calculate the tensor in a frame at the CoM, but aligned with the world axes
inertiaTensor = Matrix.Transpose(transform.Orientation) * inertiaTensor * transform.Orientation;
// Transfer of axe theorem
inertiaTensor.M11 = inertiaTensor.M11 + mass * (centerOfMass.Y * centerOfMass.Y + centerOfMass.Z * centerOfMass.Z);
inertiaTensor.M22 = inertiaTensor.M22 + mass * (centerOfMass.Z * centerOfMass.Z + centerOfMass.X * centerOfMass.X);
inertiaTensor.M33 = inertiaTensor.M33 + mass * (centerOfMass.X * centerOfMass.X + centerOfMass.Y * centerOfMass.Y);
inertiaTensor.M12 = inertiaTensor.M21 = inertiaTensor.M12 - mass * centerOfMass.X * centerOfMass.Y;
inertiaTensor.M23 = inertiaTensor.M32 = inertiaTensor.M23 - mass * centerOfMass.Y * centerOfMass.Z;
inertiaTensor.M31 = inertiaTensor.M13 = inertiaTensor.M31 - mass * centerOfMass.Z * centerOfMass.X;
}
/// <summary>
/// Returns the mass, center of mass, and intertia tensor around the origin
/// </summary>
/// <param name="primitiveProperties"></param>
/// <param name="mass"></param>
/// <param name="centerOfMass"></param>
/// <param name="inertiaTensor"></param>
public abstract void GetMassProperties(PrimitiveProperties primitiveProperties,
out float mass, out Vector3 centerOfMass, out Matrix4 inertiaTensor);
public override void GetMassProperties(PrimitiveProperties primitiveProperties, out float mass, out Vector3 centerOfMass, out Matrix inertiaTensor)
{
mass = 0.0f;
centerOfMass = Vector3.Zero;
inertiaTensor = Matrix.Identity;
}
/// <summary>
/// Sets the mass of the body. Based on the objects properties we can determine it's other physical properties, like inertia, and the update the
/// bodies properties accordingly.
/// </summary>
/// <param name="mass">The new mass we want applied to the body.</param>
/// <returns>The center of mass for the body after the mass change.</returns>
public Vector3 SetMass(float mass)
{
PrimitiveProperties primitiveProperties =
new PrimitiveProperties(
PrimitiveProperties.MassDistributionEnum.Solid,
PrimitiveProperties.MassTypeEnum.Density, mass);
float bodyMass;
Vector3 centerOfMass;
Matrix inertiaTensor;
Matrix inertiaTensorCoM;
CollisionSkin.GetMassProperties(primitiveProperties, out bodyMass, out centerOfMass, out inertiaTensor, out inertiaTensorCoM);
Body.BodyInertia = inertiaTensorCoM;
Body.Mass = bodyMass;
return centerOfMass;
}