2 ms·

David Eberly has a pretty nice followup to Mirtich [1]. [1] http://www.geometrictools.com/Documentation/PolyhedralMassProperties.pdf http://www.geometrictools.

• Animats 11y ago
  Eberly's method is faster, but for rigid-body work, mass properties are precomputed once and stored. It's not necessary to run that algorithm during the simulation. Even for thousand-face polyhedra, it's not that slow to precompute mass properties.