|
Regular API function
simSetShapeInertia / sim.setShapeInertia
|
Description
|
Applies a new inertia tensor to a shape. If simulation is running, the shape will be dynamically reset (similar to calling sim.resetDynamicObject right after). See also sim.getShapeInertia, sim.setShapeMass and sim.computeMassAndInertia. |
C/C++
synopsis
|
simInt simSetShapeInertia(simInt shapeHandle,const simFloat* inertiaMatrix,const simFloat* transformationMatrix) |
C/C++
parameters |
inertiaMatrix: the new inertia matrix or tensor (9 values), expressed relative to transformationMatrix (which should coincide with the center of mass). The matrix should be symmetric.
transformationMatrix: a transformation matrix (12 values) expressed relative to the shape's reference frame. The matrix indicates the center of mass of the shape, and is the frame relative to which inertiaMatrix is expressed.
|
C/C++
return value
|
-1 in case of an error
|
Lua
synopsis
|
sim.setShapeInertia(int shapeHandle,float[9] inertiaMatrix,float[12] transformationMatrix) |
Lua
parameters |
Similar to the C-function counterpart
|
Lua
return values
|
|
Python
synopsis |
sim.setShapeInertia(int shapeHandle,list inertiaMatrix,list transformationMatrix) |
|