Unity的Inertial Tensor 和 Inertial Tensor Rotation 与惯性张量的转换

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已于 2025-03-18 20:27:48 修改

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分类专栏： Unity 文章标签： unity 游戏引擎

于 2025-03-18 20:17:57 首次发布

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惯性张量是一3*3的矩阵，如图所示

在Unity的Rigidbody组件中为了减少变量的数目，简化为用Inertial Tensor(3个变量，三维向量)和Inertial Tensor Rotation(4个变量，四元数)来表示，

从Inertial Tensor和Inertial Tensor Rotation转换到惯性张量(取最终结果InertiaTensor的前三行前三列)的代码如下：

public Rigidbody rigidbody;
private void Start()
{
Vector3 Inertia = rigidbody.inertiaTensorRotation * new Vector3(rigidbody.inertiaTensor.x > 0 ? rigidbody.inertiaTensor.x : 0,rigidbody.inertiaTensor.y > 0 ? rigidbody.inertiaTensor.y : 0,rigidbody.inertiaTensor.z > 0 ? rigidbody.inertiaTensor.z : 0);
Matrix4x4 InertiaTensor= Matrix4x4.zero;
Matrix4x4 r = Matrix4x4.Rotate(rigidbody.rotation);
InertiaTensor[0, 0] = Inertia.x;
InertiaTensor[1, 1] = Inertia.y;
InertiaTensor[2, 2] = Inertia.z;
InertiaTensor[3, 3] = 1;
InertiaTensor = r * InertiaTensor * r.transpose;
Debug.Log(InertiaTensor);
}