July 2010
Intermediate to advanced
524 pages
16h 56m
English
Content preview from Game Physics Engine Development, 2nd Edition
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216 Chapter 10 Laws of Motion for Rigid Bodies
The Inverse Inertia Tensor
For exactly the same reasons as we saw for mass, we will store the inverse inertia tensor
rather than the raw inertia tensor. The rigid body has an additional member added, a
Matrix3 instance:
Excerpt from file include/cyclone/body.h
class RigidBody
{
// ... Other RigidBody code as before ...
/**
* Holds the inverse of the body’s inertia tensor. The
* intertia tensor provided must not be degenerate
* (that would mean the body had zero inertia for
* spinning along one axis). As long as the tensor is
* finite, it will be invertible. The inverse tensor
* is used for similar reasons to
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