Fast and Accurate Computation of Polyhedral Mass Properties

@article{Mirtich1996FastAA,
  title={Fast and Accurate Computation of Polyhedral Mass Properties},
  author={Brian Mirtich},
  journal={J. Graphics, GPU, & Game Tools},
  year={1996},
  volume={1},
  pages={31-50}
}
The location of a body's center of mass, and its moments and products of inertia about various axes are important physical quantities needed for any type of dynamic simulation or physical based modeling. We present an algorithm for automatically computing these quantities for a general class of rigid bodies: those composed of uniform density polyhedra. The mass integrals may be converted into volume integrals under these assumptions, and the bulk of the paper is devoted to the computation of… CONTINUE READING