yade-dev team mailing list archive

[Václav S(milauer <eudoxos@xxxxxxxx>]

sega napsal(a):
> Hi!
> Is NewtonsMomentumLaw correctly for non-spherical bodies?
> As I understand, inertia tensor raised in the principal axes, but the
> momentum raised in the global axes... So
>
> rb->angularAcceleration=diagDiv(am->momentum,rb->inertia);
>
> is not correct, as me seems...
>   
It seems indeed invalid; inertia tensor is in body-local (=principal)
axes and the PhysicalActionApplier doesn't do any transformation before
the physical action (which is in global coordinates) is applied. (I am
wondering whether this might be the reason that the exact tetrahedra
implementation I attempted never worked right?).



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