public static Vector3d CalculateCenterOfMass(
Vector3d[] vertices,
TriangleMesh[] triangleMeshes,
double mass)
{
var inertiaTensor = new InertiaTensorEngine(
vertices,
triangleMeshes,
mass,
false);
return(inertiaTensor.Execute().CenterOfMass);
}
public static InertiaTensorOutput GetInertiaTensor(
Vector3d[] vertexPosition,
TriangleMesh[] triangleMeshes,
Vector3d position,
double mass)
{
var inertiaTensor = new InertiaTensorEngine(
vertexPosition,
triangleMeshes,
mass,
true);
var inertiaTensorRes = inertiaTensor.Execute();
Vector3d r = inertiaTensorRes.CenterOfMass - position;
Matrix3x3 baseTensors = inertiaTensorRes.InertiaTensor +
(Matrix3x3.IdentityMatrix() * r.Dot(r) - Matrix3x3.OuterProduct(r, r)) *
mass;
return(new InertiaTensorOutput(baseTensors, inertiaTensorRes.CenterOfMass, inertiaTensorRes.DensityMass));
}