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void  NewtonBodySetFullMassMatrix (const NewtonBody* const body, dFloat mass, const dFloat* const inertiaMatrix)


Set the mass matrix of a rigid body.


  • const NewtonBody* const body
  • dFloat mass
  • const dFloat* const inertiaMatrix


  • (Procedure)


  • Newton algorithms have no restriction on the values for the mass, but due to floating point dynamic
  • range (24 bit precision) it is best if the ratio between the heaviest and the lightest body in the scene is limited to 200.
  • There are no special utility functions in Newton to calculate the moment of inertia of common primitives.
  • The application should specify the inertial values, keeping in mind that realistic inertia values are necessary for
  • realistic physics behavior.

See also

NewtonConvexCollisionCalculateInertialMatrix NewtonBodyGetMass NewtonBodyGetInvMass