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  Inertia warning  (Read 1133 times)
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Offline ewills

Junior Member




Java skeletal animation systems rock!


« Posted 2005-01-04 16:36:30 »

When I create a Body without passing in a GeomBox or GeomSphere (e.g. a GeomTransform), I get the warning message:

ODE Message 2: inertia must be positive definite (ode/src/ode.cpp:410)

I am using the windows debug native.

I believe this is because default inertia is loaded only for GeomBoxS and GeomSphereS.

This problem could be solved by adding a Ode.dMassSetParameters(massId, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f) call before the Ode.dBodySetMass(bodyId, massId) call in the constructor of Body.

Is this a known issue?  I'll submit a patch if not...
Offline William Denniss

JGO Coder


Projects: 2


Fire at will


« Reply #1 - Posted 2005-01-05 08:52:15 »

Thanks Smiley

I'll commit in your solution next week when I come back from holidays.

Cheers,

Will.

Offline ewills

Junior Member




Java skeletal animation systems rock!


« Reply #2 - Posted 2005-01-05 17:50:36 »

OK!  This should get rid of the warning at least.  Smiley
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Offline ewills

Junior Member




Java skeletal animation systems rock!


« Reply #3 - Posted 2005-01-06 00:51:43 »

One more note:

The Ode.dMassSetParameters(massId, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f) call needs to be before the setGeom(geom) call in the constructor of Body (or else the default sphere and box inertial parameters will be overwritten).

Better yet, the Ode.dMassSetParameters call could go into the setDefaultMass(Geom g) method:

if (geom instanceof GeomBox) {
 float size[] = ((GeomBox) geom).getLengths();
 Ode.dMassSetBox(massId, DEFAULT_MASS_DENSITY, size[0], size[1], size[2]);
}
else if (geom instanceof GeomSphere) {
 float radius = ((GeomSphere) geom).getRadius();
 Ode.dMassSetSphere(massId, DEFAULT_MASS_DENSITY, radius);
}
else
 Ode.dMassSetParameters(massId, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 0.0f);

edit:
The 1.0fS above could be replaced by DEFAULT_MASS_DENSITY.
Offline ewills

Junior Member




Java skeletal animation systems rock!


« Reply #4 - Posted 2005-02-25 17:43:02 »

This issue is now fixed in CVS.
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