Using triangle mesh with a kinematic rigid body is allowed, but the options "Compute COM", "Compute Mass" and "Compute Inertia" are not supported by PhysX and an error in logged that default values for COM, Mass and Inertia will be used. Now this situation is captured and an explanatory warning is used instead.
- Improved RigidBody::UpdateMassProperties function to apply the same logic in the treatment of shapes for all three parameters: COM, Mass and Inertia.
- Improved UpdateMassProperties function by using references for the override parameters instead of pointers.
- Improved function that computes the Center of Mass UpdateCenterOfMass (renamed from UpdateComputedCenterOfMass), to include the same shapes that the compute mass and inertia functions in physx updateMassAndInertia, which is to include all shapes if includeAllShapesInMassCalculation is true, else include only the shapes with eSIMULATION_SHAPE flag.
- Removed unused private function RigidBody::ComputeInertia.
- Added unit test to check when the warnings are fired correctly when COM, Mass or Inertia are asked to be computed on a rigid body with triangle mesh shapes.
- Improved MassComputeFixture tests by not only using Box shape, but also sphere and capture, plus improved the PossibleMassComputeFlags parameters to include all possible variations of the MassComputeFlags flags.
Fixes#3322Fixes#3979
Signed-off-by: moraaar <moraaar@amazon.com>
* Final update copyright headers to reference license files at the repo root
Signed-off-by: spham <spham@amazon.com>
* Fix copyright validator unit tests to support the stale O3DE header scenario
Signed-off-by: spham <spham@amazon.com>
puvvadar
moraaar
Esteban Papp
Steve Pham
amzn-sean
alexpete