[upstream] Remove cancellation from inertia calculation to improve ac… #42
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…curacy (box2d #955) I was computing the shape inertia about the body origin and then shifting to the center of mass. But this involves quadratic math with bad cancellation effects. I'm now buffering the shape inertias about their centroids and then shifting them to the final body center of mass. This removes the quadratic cancellation. Fixes (box2d #949)
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…curacy (box2d #955)
I was computing the shape inertia about the body origin and then shifting to the center of mass. But this involves quadratic math with bad cancellation effects.
I'm now buffering the shape inertias about their centroids and then shifting them to the final body center of mass. This removes the quadratic cancellation.
Fixes (box2d #949)