Merge pull request #42 from notgiven688/TransformedShape_fix

No need to recalculate mass properties of the child shape in TransformedShape.cs
notgiven688 · Nov 12, 2023 · db78d12 · db78d12
2 parents 3035f9c + 120e8a2
commit db78d12
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/Jitter2/Collision/Shapes/TransformedShape.cs b/src/Jitter2/Collision/Shapes/TransformedShape.cs
@@ -132,10 +132,10 @@ public override void CalculateBoundingBox(in JMatrix orientation, in JVector pos
 
     public override void CalculateMassInertia(out JMatrix inertia, out JVector com, out float mass)
     {
-        OriginalShape.CalculateMassInertia(out inertia, out com, out mass);
+        mass = OriginalShape.Mass;
 
-        com = JVector.Transform(com, transformation) + translation;
-        inertia = transformation * JMatrix.Multiply(inertia, JMatrix.Transpose(transformation));
+        com = JVector.Transform(OriginalShape.GeometricCenter, transformation) + translation;
+        inertia = transformation * JMatrix.Multiply(OriginalShape.Inertia, JMatrix.Transpose(transformation));
         JMatrix pat = mass * (JMatrix.Identity * translation.LengthSquared() - JVector.Outer(translation, translation));
         inertia += pat;
     }