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fix: remove threshold in angular inertia eigenvalue calculation #209

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merged 2 commits into from
Jun 23, 2024
Merged

fix: remove threshold in angular inertia eigenvalue calculation #209

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4684fc6
fix: remove threshold in angular inertia eigenvalue calculation
sebcrozet May 9, 2024
8add3a3
fix inertia matrix test to check the angular inertia instead of its i…
sebcrozet Jun 23, 2024
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12 changes: 8 additions & 4 deletions src/mass_properties/mass_properties.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ impl MassProperties {
let _ = principal_inertia_local_frame.renormalize();

// Drop negative eigenvalues.
let principal_inertia = eigen.eigenvalues.map(|e| if e < EPSILON { 0.0 } else { e });
let principal_inertia = eigen.eigenvalues.map(|e| e.max(0.0));

Self::with_principal_inertia_frame(
local_com,
Expand Down Expand Up @@ -510,7 +510,7 @@ impl approx::RelativeEq for MassProperties {
#[cfg(test)]
mod test {
use super::MassProperties;
use crate::math::Point;
use crate::math::{AngVector, Point};
#[cfg(feature = "dim3")]
use crate::math::{Rotation, Vector};
use crate::shape::{Ball, Capsule, Shape};
Expand Down Expand Up @@ -574,11 +574,15 @@ mod test {
assert_relative_eq!(m1m2m3 - m1 - m3, m2, epsilon = 1.0e-6);
assert_relative_eq!(m1m2m3 - m2 - m3, m1, epsilon = 1.0e-6);

// NOTE: converting the inverse inertia matrices don’t work well here because
// tiny inertia value originating from the subtraction can result in a non-zero
// (but large) inverse.
assert_relative_eq!(
((m1m2m3 - m1) - m2) - m3,
MassProperties::zero(),
(((m1m2m3 - m1) - m2) - m3).principal_inertia(),
AngVector::zero(),
epsilon = 1.0e-6
);
assert_relative_eq!((((m1m2m3 - m1) - m2) - m3).mass(), 0.0, epsilon = 1.0e-6);
}

#[test]
Expand Down