diff --git a/src/pe/rigidbody/Capsule.h b/src/pe/rigidbody/Capsule.h
index 55070d0224f835f8870f1be99e3eb432f936a6e0..ce6bb8cbe513160efd30f723cfb952eedefdcc00 100644
--- a/src/pe/rigidbody/Capsule.h
+++ b/src/pe/rigidbody/Capsule.h
@@ -89,6 +89,7 @@ public:
//@{
inline real_t getRadius() const;
inline real_t getLength() const;
+ inline real_t getVolume() const;
//@}
//**********************************************************************************************
@@ -194,6 +195,18 @@ inline real_t Capsule::getLength() const
//*************************************************************************************************
+//*************************************************************************************************
+/*!\brief Returns the volume of the capsule.
+ *
+ * \return The volume of the capsule.
+ */
+inline real_t Capsule::getVolume() const
+{
+ return Capsule::calcVolume( getRadius(), getLength() );
+}
+//*************************************************************************************************
+
+
//=================================================================================================
diff --git a/tests/pe/CMakeLists.txt b/tests/pe/CMakeLists.txt
index 5059d761e6550ffa6852d78631697fbf290568fb..64a077d081657246870a0bbac6583cc58bb8acb0 100644
--- a/tests/pe/CMakeLists.txt
+++ b/tests/pe/CMakeLists.txt
@@ -121,3 +121,6 @@ waLBerla_execute_test( NAME PE_STATICTYPEIDS )
waLBerla_compile_test( NAME PE_UNION FILES Union.cpp DEPENDS core )
waLBerla_execute_test( NAME PE_UNION )
+
+waLBerla_compile_test( NAME PE_VOLUMEINERTIA FILES VolumeInertia.cpp DEPENDS core )
+waLBerla_execute_test( NAME PE_VOLUMEINERTIA CONFIGURATIONS Release RelWithDbgInfo)
diff --git a/tests/pe/VolumeInertia.cpp b/tests/pe/VolumeInertia.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..becd6ddd37b8fbd8380d4bf20def053a6b40b1c4
--- /dev/null
+++ b/tests/pe/VolumeInertia.cpp
@@ -0,0 +1,133 @@
+//======================================================================================================================
+//
+// This file is part of waLBerla. waLBerla is free software: you can
+// redistribute it and/or modify it under the terms of the GNU General Public
+// License as published by the Free Software Foundation, either version 3 of
+// the License, or (at your option) any later version.
+//
+// waLBerla is distributed in the hope that it will be useful, but WITHOUT
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+// for more details.
+//
+// You should have received a copy of the GNU General Public License along
+// with waLBerla (see COPYING.txt). If not, see <http://www.gnu.org/licenses/>.
+//
+//! \file VolumeInertia.cpp
+//! \author Sebastian Eibl <sebastian.eibl@fau.de>
+//
+//======================================================================================================================
+
+#include <core/debug/TestSubsystem.h>
+#include <core/grid_generator/SCIterator.h>
+#include <pe/Materials.h>
+#include <pe/rigidbody/Box.h>
+#include <pe/rigidbody/Capsule.h>
+#include <pe/rigidbody/Ellipsoid.h>
+#include <pe/rigidbody/Sphere.h>
+
+using namespace walberla;
+using namespace walberla::pe;
+
+template< typename ContainmentT >
+void calcNumeric( const ContainmentT & body, const AABB & aabb, const real_t spacing, real_t& outVolume, Vec3& outCOM, Mat3& outInertia )
+{
+ Vector3<real_t> pointOfReference = aabb.min() + Vector3<real_t>( real_t(0.5) * spacing );
+
+ uint_t volume = 0;
+ math::KahanAccumulator<real_t> centroid[3];
+ math::KahanAccumulator<real_t> intertiaTensor[6];
+ uint_t numPoints = 0;
+
+ for(grid_generator::SCIterator it( aabb, pointOfReference, spacing ); it != grid_generator::SCIterator(); ++it)
+ {
+ if(body.containsPoint( *it ))
+ {
+ //volume
+ ++volume;
+
+ //center of mass
+ centroid[0] += (*it)[0];
+ centroid[1] += (*it)[1];
+ centroid[2] += (*it)[2];
+
+ //inertia tensor
+ const Vector3<real_t> p = *it;
+ const real_t & x = p[0];
+ const real_t & y = p[1];
+ const real_t & z = p[2];
+
+ intertiaTensor[0] += y*y + z*z;
+ intertiaTensor[1] += -x*y;
+ intertiaTensor[2] += -x*z;
+ intertiaTensor[3] += x*x + z*z;
+ intertiaTensor[4] += -y*z;
+ intertiaTensor[5] += x*x + y*y;
+ ++numPoints;
+ }
+ }
+
+ auto dV = (spacing * spacing * spacing);
+ auto dm = dV * Material::getDensity( body.getMaterial() );
+ outVolume = real_c(volume) * dV;
+ outCOM = Vec3( centroid[0].get(), centroid[1].get(), centroid[2].get() ) / real_c(numPoints);
+ outInertia = Mat3( intertiaTensor[0].get(), intertiaTensor[1].get(), intertiaTensor[2].get(),
+ intertiaTensor[1].get(), intertiaTensor[3].get(), intertiaTensor[4].get(),
+ intertiaTensor[2].get(), intertiaTensor[4].get(), intertiaTensor[5].get() ) * dm;
+}
+
+int main( int argc, char ** argv )
+{
+ walberla::debug::enterTestMode();
+
+ walberla::MPIManager::instance()->initializeMPI( &argc, &argv );
+
+ MaterialID material = createMaterial( "dummy",
+ real_t( 3900 ),
+ 0,
+ 0,
+ 0,
+ real_t( 0.23 ),
+ real_t( 3.6e11 ),
+ real_t( 8.65e6 ),
+ real_t( 1.1e1 ),
+ 0 );
+
+ real_t volume;
+ Vec3 COM;
+ Mat3 inertia;
+
+ Sphere sp(0, 0, Vec3(0,0,0), Vec3(0,0,0), Quat(), real_t(2.34), material, false, true, false);
+ calcNumeric(sp, sp.getAABB(), real_t(0.01), volume, COM, inertia);
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(sp.getVolume(), volume, real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(Sphere::calcVolume( real_t(2.34) ), volume, real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(sp.getInertia(), inertia, real_t(10)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(sp.getMass(), volume * Material::getDensity(material), real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(COM, Vec3(0), real_t(10e-4)) );
+
+ Box bx(0, 0, Vec3(0,0,0), Vec3(0,0,0), Quat(), Vec3(real_t(1.5), real_t(2.5), real_t(3.5)), material, false, true, false);
+ calcNumeric(bx, bx.getAABB(), real_t(0.01), volume, COM, inertia);
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(bx.getVolume(), volume, real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(Box::calcVolume( Vec3(real_t(1.5), real_t(2.5), real_t(3.5)) ), volume, real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(bx.getInertia(), inertia, real_t(10)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(bx.getMass(), volume * Material::getDensity(material), real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(COM, Vec3(0), real_t(10e-4)) );
+
+ Ellipsoid el(0, 0, Vec3(0,0,0), Vec3(0,0,0), Quat(), Vec3(real_t(1.5), real_t(2.5), real_t(3.5)), material, false, true, false);
+ calcNumeric(el, el.getAABB(), real_t(0.01), volume, COM, inertia);
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(el.getVolume(), volume, real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(Ellipsoid::calcVolume( Vec3(real_t(1.5), real_t(2.5), real_t(3.5)) ), volume, real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(el.getInertia(), inertia, real_t(10)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(el.getMass(), volume * Material::getDensity(material), real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(COM, Vec3(0), real_t(10e-4)) );
+
+ Capsule cp(0, 0, Vec3(0,0,0), Vec3(0,0,0), Quat(), real_t(1.5), real_t(2.5), material, false, true, false);
+ calcNumeric(cp, cp.getAABB(), real_t(0.01), volume, COM, inertia);
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(cp.getVolume(), volume, real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(Capsule::calcVolume( real_t(1.5), real_t(2.5) ), volume, real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(cp.getInertia(), inertia, real_t(10)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(cp.getMass(), volume * Material::getDensity(material), real_t(10e-4)) );
+ WALBERLA_CHECK( walberla::debug::check_functions_detail::check_float_equal_eps(COM, Vec3(0), real_t(10e-4)) );
+
+ return EXIT_SUCCESS;
+}