Problem with mass proporties in odejava

[lucas]

Hi,

I have a small problem concerning inertia tensors in odejava. When I set the mass proporties with values from the tensor (as shown below) rather unphysical behaviour result, the body isn´t rotating as it should. If the cube is slowly pushed over an edge, it rotates almost nothing when falling free. However, if i do not set the massparameters the cube does behave normally.

I really need to use the tensor because i ultimately intend to simulate convex hulls. Here are the parameters I use:

float box_side = 0.0198f
float box_mass = 0.0203f; //density = 2600kg/m3

//tensor
float[][] it =  {{6.5703505E-5f,  -0.0f,  -0.0f},
      {-0.0f,  6.5703505E-5f,  -0.0f},
      {-0.0f,  -0.0f,  6.5703505E-5f}};
      
box.setMassParameters(mass, 0, 0, 0, it[0][0], it[1][1], it[2][2], 0, 0, 0);

Does anyone know what's causing my problem??
Thanks,
Lucas

[lucas]

Well, The problem was easley fixed, the tensor should be multiplied by the mass..

/lucas