[ODE] Is it possible to Scale a given Inertia-Matrix?

[GARY VANSICKLE]

> We do it for sphere, boxes & CCyls... Works a treat... Especially good
> for games, where sending the player object spinning too fast really
> reduces playability. Just scale the tensor, and the object will rotate
> less ;-)
> 
> Here's our code:
> 	dMass m;
> 	// set inertia tensor
> 	switch (m_TensorType) {
> 	case kBoxTensor:
> 		m.setBox (1, m_Size.x, m_Size.y, m_Size.z);
> 		break;
> 	case kSphereTensor:
> 		m.setSphere (1, m_Size.x);
> 		break;
> 	case kCylinderTensor:
> 		m.setCappedCylinder (1, 0, m_Size.x, m_Size.y);
> 		break;
> 	}
> 	dMassAdjust (&m, m_Mass);
> 	dBodySetMass (m_Body, &m);
> 

You're not scaling the size of the object though, that's what the OP was
talking about.  Density is a power-one term of the inertia tensor integral,
so scaling density (i.e. mass) is a simple multiplication and is generally
applicable.

-- 
Gary R. Van Sickle