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Merge pull request #59209 from rburing/fix_pinjoint2d_inertia_tensor

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`PinJoint2D`: fix inertia tensor, taking center of mass into account
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Rémi Verschelde 2022-03-16 23:48:09 +01:00 committed by GitHub
commit c950db6652
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1 changed files with 12 additions and 8 deletions
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20
servers/physics_2d/godot_joints_2d.cpp
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@ -118,22 +118,26 @@ bool GodotPinJoint2D::setup(real_t p_step) {
K1[0].y = 0.0f;
K1[1].y = A->get_inv_mass() + B_inv_mass;
Vector2 r1 = rA - A->get_center_of_mass();
Transform2D K2;
K2[0].x = A->get_inv_inertia() * rA.y * rA.y;
K2[1].x = -A->get_inv_inertia() * rA.x * rA.y;
K2[0].y = -A->get_inv_inertia() * rA.x * rA.y;
K2[1].y = A->get_inv_inertia() * rA.x * rA.x;
K2[0].x = A->get_inv_inertia() * r1.y * r1.y;
K2[1].x = -A->get_inv_inertia() * r1.x * r1.y;
K2[0].y = -A->get_inv_inertia() * r1.x * r1.y;
K2[1].y = A->get_inv_inertia() * r1.x * r1.x;
Transform2D K;
K[0] = K1[0] + K2[0];
K[1] = K1[1] + K2[1];
if (B) {
Vector2 r2 = rB - B->get_center_of_mass();
Transform2D K3;
K3[0].x = B->get_inv_inertia() * rB.y * rB.y;
K3[1].x = -B->get_inv_inertia() * rB.x * rB.y;
K3[0].y = -B->get_inv_inertia() * rB.x * rB.y;
K3[1].y = B->get_inv_inertia() * rB.x * rB.x;
K3[0].x = B->get_inv_inertia() * r2.y * r2.y;
K3[1].x = -B->get_inv_inertia() * r2.x * r2.y;
K3[0].y = -B->get_inv_inertia() * r2.x * r2.y;
K3[1].y = B->get_inv_inertia() * r2.x * r2.x;
K[0] += K3[0];
K[1] += K3[1];