From 797dead2099fc7e2d41e2b26bc8ef18b4166d72e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= Date: Sat, 23 Mar 2024 11:25:53 +0100 Subject: [PATCH] doc: specifiy that inv_principal_inertia_sqrt is calculated relative to the center of mass --- src/mass_properties/mass_properties.rs | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/mass_properties/mass_properties.rs b/src/mass_properties/mass_properties.rs index 1fd833d0..351b334a 100644 --- a/src/mass_properties/mass_properties.rs +++ b/src/mass_properties/mass_properties.rs @@ -28,6 +28,7 @@ pub struct MassProperties { pub inv_mass: Real, /// The inverse of the principal angular inertia of the rigid-body. /// + /// The angular inertia is calculated relative to [`Self::local_com`]. /// Components set to zero are assumed to be infinite along the corresponding principal axis. pub inv_principal_inertia_sqrt: AngVector, #[cfg(feature = "dim3")] @@ -116,7 +117,7 @@ impl MassProperties { utils::inv(self.inv_mass) } - /// The angular inertia along the principal inertia axes of the rigid-body. + /// The angular inertia along the principal inertia axes and center of mass of the rigid-body. pub fn principal_inertia(&self) -> AngVector { #[cfg(feature = "dim2")] return utils::inv(self.inv_principal_inertia_sqrt * self.inv_principal_inertia_sqrt);