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santaclaus
on Oct 4, 2015
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Microsoft acquires Havok
David Eberly has a pretty nice followup to Mirtich [1].
[1]
http://www.geometrictools.com/Documentation/PolyhedralMassPr...
Animats
on Oct 4, 2015
[–]
Eberly's method is faster, but for rigid-body work, mass properties are precomputed once and stored. It's not necessary to run that algorithm during the simulation. Even for thousand-face polyhedra, it's not that slow to precompute mass properties.
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[1] http://www.geometrictools.com/Documentation/PolyhedralMassPr...