cpp
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JoltPhysics
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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="class_mass_properties-members.html">List of all members</a>  </div>
  <div class="headertitle"><div class="title">MassProperties Class Reference</div></div>
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<p>Describes the mass and inertia properties of a body. Used during body construction only.  
 <a href="#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_mass_properties_8h_source.html">MassProperties.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a37bb3a2b21209e7da35c5fbc4102d8de" id="r_a37bb3a2b21209e7da35c5fbc4102d8de"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a37bb3a2b21209e7da35c5fbc4102d8de">DecomposePrincipalMomentsOfInertia</a> (<a class="el" href="class_mat44.html">Mat44</a> &amp;outRotation, <a class="el" href="class_vec3.html">Vec3</a> &amp;outDiagonal) const</td></tr>
<tr class="separator:a37bb3a2b21209e7da35c5fbc4102d8de"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e7cacca84047cc12cf6aaf9f5bf2d95" id="r_a8e7cacca84047cc12cf6aaf9f5bf2d95"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8e7cacca84047cc12cf6aaf9f5bf2d95">SetMassAndInertiaOfSolidBox</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inBoxSize, float inDensity)</td></tr>
<tr class="memdesc:a8e7cacca84047cc12cf6aaf9f5bf2d95"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the mass and inertia of a box with edge size inBoxSize and density inDensity.  <br /></td></tr>
<tr class="separator:a8e7cacca84047cc12cf6aaf9f5bf2d95"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff72522796c853cdd8b250082e15a2cf" id="r_aff72522796c853cdd8b250082e15a2cf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aff72522796c853cdd8b250082e15a2cf">ScaleToMass</a> (float inMass)</td></tr>
<tr class="memdesc:aff72522796c853cdd8b250082e15a2cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the mass and scale the inertia tensor to match the mass.  <br /></td></tr>
<tr class="separator:aff72522796c853cdd8b250082e15a2cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a305b372015465387eed7b337ce84a398" id="r_a305b372015465387eed7b337ce84a398"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a305b372015465387eed7b337ce84a398">Rotate</a> (<a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a> inRotation)</td></tr>
<tr class="memdesc:a305b372015465387eed7b337ce84a398"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotate the inertia by 3x3 matrix inRotation.  <br /></td></tr>
<tr class="separator:a305b372015465387eed7b337ce84a398"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaa1db421f180e9955103953b822ad22c" id="r_aaa1db421f180e9955103953b822ad22c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aaa1db421f180e9955103953b822ad22c">Translate</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inTranslation)</td></tr>
<tr class="memdesc:aaa1db421f180e9955103953b822ad22c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Translate the inertia by a vector inTranslation.  <br /></td></tr>
<tr class="separator:aaa1db421f180e9955103953b822ad22c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada0108c75189e3eb85b7aef5de1d07d8" id="r_ada0108c75189e3eb85b7aef5de1d07d8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ada0108c75189e3eb85b7aef5de1d07d8">Scale</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inScale)</td></tr>
<tr class="memdesc:ada0108c75189e3eb85b7aef5de1d07d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Scale the mass and inertia by inScale, note that elements can be &lt; 0 to flip the shape.  <br /></td></tr>
<tr class="separator:ada0108c75189e3eb85b7aef5de1d07d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31b51417175f6cd0d840d2c6bce22815" id="r_a31b51417175f6cd0d840d2c6bce22815"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a31b51417175f6cd0d840d2c6bce22815">SaveBinaryState</a> (<a class="el" href="class_stream_out.html">StreamOut</a> &amp;inStream) const</td></tr>
<tr class="memdesc:a31b51417175f6cd0d840d2c6bce22815"><td class="mdescLeft">&#160;</td><td class="mdescRight">Saves the state of this object in binary form to inStream.  <br /></td></tr>
<tr class="separator:a31b51417175f6cd0d840d2c6bce22815"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac46696a6d40a5e0b96898bb38f66e904" id="r_ac46696a6d40a5e0b96898bb38f66e904"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac46696a6d40a5e0b96898bb38f66e904">RestoreBinaryState</a> (<a class="el" href="class_stream_in.html">StreamIn</a> &amp;inStream)</td></tr>
<tr class="memdesc:ac46696a6d40a5e0b96898bb38f66e904"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restore the state of this object from inStream.  <br /></td></tr>
<tr class="separator:ac46696a6d40a5e0b96898bb38f66e904"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a0962451096c3563d970b3bd74438f25e" id="r_a0962451096c3563d970b3bd74438f25e"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0962451096c3563d970b3bd74438f25e">sGetEquivalentSolidBoxSize</a> (float inMass, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inInertiaDiagonal)</td></tr>
<tr class="memdesc:a0962451096c3563d970b3bd74438f25e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculates the size of the solid box that has an inertia tensor diagonal inInertiaDiagonal.  <br /></td></tr>
<tr class="separator:a0962451096c3563d970b3bd74438f25e"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:adebd439d6c8df005a64cbcced1d5ec36" id="r_adebd439d6c8df005a64cbcced1d5ec36"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#adebd439d6c8df005a64cbcced1d5ec36">mMass</a> = 0.0f</td></tr>
<tr class="memdesc:adebd439d6c8df005a64cbcced1d5ec36"><td class="mdescLeft">&#160;</td><td class="mdescRight">Mass of the shape (kg)  <br /></td></tr>
<tr class="separator:adebd439d6c8df005a64cbcced1d5ec36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4772a70dff90b8dc68ff137e2590e3ef" id="r_a4772a70dff90b8dc68ff137e2590e3ef"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_mat44.html">Mat44</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4772a70dff90b8dc68ff137e2590e3ef">mInertia</a> = <a class="el" href="class_mat44.html#a1e3a8da1cf3a631ffaf478ca3f6bb1ed">Mat44::sZero</a>()</td></tr>
<tr class="memdesc:a4772a70dff90b8dc68ff137e2590e3ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inertia tensor of the shape (kg m^2)  <br /></td></tr>
<tr class="separator:a4772a70dff90b8dc68ff137e2590e3ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Describes the mass and inertia properties of a body. Used during body construction only. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a37bb3a2b21209e7da35c5fbc4102d8de" name="a37bb3a2b21209e7da35c5fbc4102d8de"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a37bb3a2b21209e7da35c5fbc4102d8de">&#9670;&#160;</a></span>DecomposePrincipalMomentsOfInertia()</h2>

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          <td class="memname">bool MassProperties::DecomposePrincipalMomentsOfInertia </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_mat44.html">Mat44</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outRotation</em></span>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outDiagonal</em></span>&#160;) const</td>
        </tr>
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<p>Using eigendecomposition, decompose the inertia tensor into a diagonal matrix D and a right-handed rotation matrix R so that the inertia tensor is \(R \: D \: R^{-1}\). </p><dl class="section see"><dt>See also</dt><dd><a href="https://en.wikipedia.org/wiki/Moment_of_inertia">https://en.wikipedia.org/wiki/Moment_of_inertia</a> section 'Principal axes' </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">outRotation</td><td>The rotation matrix R </td></tr>
    <tr><td class="paramname">outDiagonal</td><td>The diagonal of the diagonal matrix D </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>True if successful, false if failed </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ac46696a6d40a5e0b96898bb38f66e904">&#9670;&#160;</a></span>RestoreBinaryState()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void MassProperties::RestoreBinaryState </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_stream_in.html">StreamIn</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inStream</em></span></td><td>)</td>
          <td></td>
        </tr>
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<p>Restore the state of this object from inStream. </p>

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<a id="a305b372015465387eed7b337ce84a398" name="a305b372015465387eed7b337ce84a398"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a305b372015465387eed7b337ce84a398">&#9670;&#160;</a></span>Rotate()</h2>

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          <td class="memname">void MassProperties::Rotate </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a></td>          <td class="paramname"><span class="paramname"><em>inRotation</em></span></td><td>)</td>
          <td></td>
        </tr>
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<p>Rotate the inertia by 3x3 matrix inRotation. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a31b51417175f6cd0d840d2c6bce22815">&#9670;&#160;</a></span>SaveBinaryState()</h2>

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      <table class="memname">
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          <td class="memname">void MassProperties::SaveBinaryState </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_stream_out.html">StreamOut</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inStream</em></span></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
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<p>Saves the state of this object in binary form to inStream. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ada0108c75189e3eb85b7aef5de1d07d8">&#9670;&#160;</a></span>Scale()</h2>

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          <td class="memname">void MassProperties::Scale </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inScale</em></span></td><td>)</td>
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<p>Scale the mass and inertia by inScale, note that elements can be &lt; 0 to flip the shape. </p>

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<a id="aff72522796c853cdd8b250082e15a2cf" name="aff72522796c853cdd8b250082e15a2cf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aff72522796c853cdd8b250082e15a2cf">&#9670;&#160;</a></span>ScaleToMass()</h2>

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          <td class="memname">void MassProperties::ScaleToMass </td>
          <td>(</td>
          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMass</em></span></td><td>)</td>
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<p>Set the mass and scale the inertia tensor to match the mass. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8e7cacca84047cc12cf6aaf9f5bf2d95">&#9670;&#160;</a></span>SetMassAndInertiaOfSolidBox()</h2>

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          <td class="memname">void MassProperties::SetMassAndInertiaOfSolidBox </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inBoxSize</em></span>, </td>
        </tr>
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          <td class="paramkey"></td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inDensity</em></span>&#160;)</td>
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<p>Set the mass and inertia of a box with edge size inBoxSize and density inDensity. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a0962451096c3563d970b3bd74438f25e">&#9670;&#160;</a></span>sGetEquivalentSolidBoxSize()</h2>

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          <td class="memname"><a class="el" href="class_vec3.html">Vec3</a> MassProperties::sGetEquivalentSolidBoxSize </td>
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          <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMass</em></span>, </td>
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          <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inInertiaDiagonal</em></span>&#160;)</td>
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<p>Calculates the size of the solid box that has an inertia tensor diagonal inInertiaDiagonal. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aaa1db421f180e9955103953b822ad22c">&#9670;&#160;</a></span>Translate()</h2>

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          <td class="memname">void MassProperties::Translate </td>
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<p>Translate the inertia by a vector inTranslation. </p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a4772a70dff90b8dc68ff137e2590e3ef">&#9670;&#160;</a></span>mInertia</h2>

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          <td class="memname"><a class="el" href="class_mat44.html">Mat44</a> MassProperties::mInertia = <a class="el" href="class_mat44.html#a1e3a8da1cf3a631ffaf478ca3f6bb1ed">Mat44::sZero</a>()</td>
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<p>Inertia tensor of the shape (kg m^2) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#adebd439d6c8df005a64cbcced1d5ec36">&#9670;&#160;</a></span>mMass</h2>

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<p>Mass of the shape (kg) </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>Jolt/Physics/Body/<a class="el" href="_mass_properties_8h_source.html">MassProperties.h</a></li>
<li>Jolt/Physics/Body/<a class="el" href="_mass_properties_8cpp.html">MassProperties.cpp</a></li>
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