Merge pull request #825 from dartsim/example_addSeleteSkles

[addDeleteSkel] Set inertia according to size and mass
dartsim · Dec 4, 2016 · f7339ae · f7339ae
2 parents c6603fc + 4052d5b
commit f7339ae
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/examples/addDeleteSkels/MyWindow.cpp b/examples/addDeleteSkels/MyWindow.cpp
@@ -86,6 +86,8 @@ void MyWindow::spawnCube(const Eigen::Vector3d& _position,
   dart::dynamics::BodyNode::Properties body;
   body.mName = "cube_link";
   body.mInertia.setMass(_mass);
+  body.mInertia.setMoment(
+      dart::dynamics::BoxShape::computeInertia(_size, _mass));
   dart::dynamics::ShapePtr newBoxShape(new dart::dynamics::BoxShape(_size));
 
   dart::dynamics::FreeJoint::Properties joint;