Inertia.hpp File Reference

Analytical inertia tensors for the primitive collision shapes. More...

#include <glm/mat3x3.hpp>
#include <glm/vec3.hpp>

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Namespaces
namespace	physics
	Pure physics math — no ECS types, no registry.
namespace	physics::inertia

Functions
glm::mat3	physics::inertia::boxInvInertia (float mass, glm::vec3 halfExtents) noexcept
	Local-space inverse inertia tensor of a solid box of mass m and full extents (= 2 * halfExtents).
glm::mat3	physics::inertia::sphereInvInertia (float mass, float radius) noexcept
	Local-space inverse inertia tensor of a solid sphere of mass m and radius r.
glm::mat3	physics::inertia::capsuleInvInertia (float mass, float radius, float halfHeight) noexcept
	Local-space inverse inertia tensor of a capsule (cylinder + 2 hemispherical caps) with vertical axis (+Y), cylinder half-height h and radius r, total mass m.

Detailed Description

Analytical inertia tensors for the primitive collision shapes.

Returns local-space inverse inertia tensors directly because every runtime use multiplies by the inverse (I^-1 * tau). The matrices are diagonal for the primitives we ship (box, sphere, capsule, cylinder) since their principal axes are aligned with local coordinates.