/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/core/geometry/geometry_compute_cylinder_mass_properties.h

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#ifndef OPENTISSUE_DYNAMICS_MBD_PRIMITIVES_H
#define OPENTISSUE_DYNAMICS_MBD_PRIMITIVES_H
//
// OpenTissue Template Library
// - A generic toolbox for physics-based modeling and simulation.
// Copyright (C) 2008 Department of Computer Science, University of Copenhagen.
//
// OTTL is licensed under zlib: http://opensource.org/licenses/zlib-license.php
//
#include <OpenTissue/configuration.h>

#include <OpenTissue/core/math/math_constants.h>

namespace OpenTissue
{
  namespace geometry
  {

    void compute_cylinder_mass_properties(
      real_type const & radius,
      real_type const & half_height,
      real_type const & density,
      real_type & mass,
      vector3_type & inertia
      )
    {
      real_type V = 2*math::detail::pi<real_type>()*radius*radius*half_height;
      mass = density*V;
      inertia(0) = inertia(2) = (radius*radius*.25 + half_height*half_height*.75)*mass;
      inertia(1) = .5*mass*radius*radius ;
    }

  } //End of namespace geometry
} //End of namespace OpenTissue

// OPENTISSUE_DYNAMICS_MBD_PRIMITIVES_H
#endif