tensors

func Cone ¶

func Cone(mass, radius, height float32) glm.Mat3

Cone returns the inertia tensor of a cone whose principal axe is along the Z axis.

func Continuous ¶

func Continuous(ix, iy, iz, ixy, ixz, iyz float32) glm.Vec3

Continuous returns a continuous inertia tensor from the given coefficients.

[ Ix , -Ixy, -Ixz]
[-Ixy,  Iy , -Iyz]
[-Ixz, -Iyz,   Iz]

func Cuboid ¶

func Cuboid(mass, dx, dy, dz float32) glm.Mat3

Cuboid returns the inertiatensor of a cuboid shape. dx, dy, dz are all full sizes as if the box was axis aligned.

func Cylinder ¶

func Cylinder(mass, radius, height float32) glm.Mat3

Cylinder returns the inertia tensor of a cylinder whose principal axe is along the Z axis.

func Sphere ¶

func Sphere(mass, radius float32) glm.Mat3

Sphere returns the inertia tensor of a sphere.