[ODE] Is it possible to Scale a given Inertia-Matrix?

[Bob Dowland]

The inertia integral is linear in M (total mass) - so straight scaling could be used as a way to simply change the overall mass of the object.

> > (ok, for boxes it is trivial, because you could do it with 
> scaling the
> > Parameters for dMassSetBox(..) but how to do it for other 
> Primitives?)

Do it the same way - write the function that computes the integral for your case and vary the parameters as required.

> -----Original Message-----
> From: GARY VANSICKLE [mailto:g.r.vansickle at worldnet.att.net]
> Sent: 16 June 2004 04:25
> To: ode at q12.org
> Subject: RE: [ODE] Is it possible to Scale a given Inertia-Matrix?
> 
> 
> > -----Original Message-----
> > From: ode-bounces at q12.org [mailto:ode-bounces at q12.org] On 
> Behalf Of Chris
> > Duwenkamp
> > Sent: Tuesday, June 15, 2004 12:08 PM
> > To: ode at q12.org
> > Subject: [ODE] Is it possible to Scale a given Inertia-Matrix?
> > 
> > Hallo!
> > 
> > Is there any possibility to scale a given Inertia-Matrix?
> > 
> > For example : you have a 1x1x1 Inertia for a Box and want 
> it to scal 2x3x2
> > so that you have a 2x3x3 box..
> > 
> > (ok, for boxes it is trivial, because you could do it with 
> scaling the
> > Parameters for dMassSetBox(..) but how to do it for other 
> Primitives?)
> > 
> 
> The inertia tensor integral has 
> distance-from-axis-of-rotation as a squared
> factor, so I don't think scaling works in general.  My calc 
> gets rustier by
> the year though so I could be wrong....
> 
> -- 
> Gary R. Van Sickle
> 
> 
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> 

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