improve inertia

Author: Kright

pga3dPhysics/src/main/scala/com/github/kright/pga3dphysics/Pga3dInertia.scala

@@ -41,12 +41,15 @@ class Pga3dInertia(val localToGlobal: Pga3dMotor,
     val localB = localToGlobal.reverseSandwich(globalB)
     localInertia.getKineticEnergy(localB)
 
-  def toSummable: Pga3dInertiaSummable =
+  override def toSummable: Pga3dInertiaSummable =
     localToGlobal.sandwich(localInertia.toSummable)
-    
-  def toPrecomputed: Pga3dInertiaPrecomputed =
+
+  override def toPrecomputed: Pga3dInertiaPrecomputed =
     Pga3dInertiaPrecomputed(localToGlobal, localInertia)
 
+  override def toInertia: Pga3dInertia =
+    this  
+
   override def toString: String =
     s"Pga3dInertia(motor = $localToGlobal, inertia = $localInertia)"
 

pga3dPhysics/src/main/scala/com/github/kright/pga3dphysics/Pga3dInertiaAbstract.scala

@@ -18,3 +18,9 @@ trait Pga3dInertiaAbstract:
 
   def getKineticEnergy(velocity: Pga3dBivector): Double =
     (velocity v apply(velocity)) * 0.5
+    
+  def toInertia: Pga3dInertia  
+    
+  def toSummable: Pga3dInertiaSummable
+  
+  def toPrecomputed: Pga3dInertiaPrecomputed

pga3dPhysics/src/main/scala/com/github/kright/pga3dphysics/Pga3dInertiaLocal.scala

@@ -47,7 +47,7 @@ final case class Pga3dInertiaLocal(mass: Double,
       yz = (localForque.wx + localB.xy * localB.xz * mrxy - localB.xy * localB.xz * mrxz) / mryz,
     )
 
-  def toSummable: Pga3dInertiaSummable =
+  override def toSummable: Pga3dInertiaSummable =
     val mrxyz2 = (mrxy + mrxz + mryz) * 0.5
 
     val mrx2 = mrxyz2 - mryz
@@ -67,9 +67,12 @@ final case class Pga3dInertiaLocal(mass: Double,
       yz = 0.0,
     )
 
-  def toInertia: Pga3dInertia =
+  override def toInertia: Pga3dInertia =
     Pga3dInertia(Pga3dMotor.id, this)
 
+  override def toPrecomputed: Pga3dInertiaPrecomputed =
+    Pga3dInertiaPrecomputed(Pga3dMotor.id, this)  
+
 
 object Pga3dInertiaLocal:
 

pga3dPhysics/src/main/scala/com/github/kright/pga3dphysics/Pga3dInertiaPrecomputed.scala

@@ -30,9 +30,11 @@ class Pga3dInertiaPrecomputed(val localToGlobal: Pga3dMotor,
   override def invert(globalInertia: Pga3dBivector): Pga3dBivector =
     Pga3dMatrix.multiply(matrixInv, globalInertia)
 
-  def toInertia: Pga3dInertia =
+  override def toInertia: Pga3dInertia =
     Pga3dInertia(localToGlobal, localInertia)
 
-  def toSummable: Pga3dInertiaSummable =
+  override def toSummable: Pga3dInertiaSummable =
     toInertia.toSummable
-    
+
+  override def toPrecomputed: Pga3dInertiaPrecomputed = 
+    this