Fixed mass and inertia for some shapes

src/mesa_pd/data/shape/Box.h

@@ -61,7 +61,10 @@ void Box::updateMassAndInertia(const real_t density)
          edgeLength_[0]*edgeLength_[0] + edgeLength_[2]*edgeLength_[2] ,
          edgeLength_[0]*edgeLength_[0] + edgeLength_[1]*edgeLength_[1] ) * (m / static_cast<real_t>( 12 ));
 
+   mass_ = m;
    invMass_      = real_t(1.0) / m;
+
+   inertiaBF_ = I;
    invInertiaBF_ = I.getInverse();
 }
 

src/mesa_pd/data/shape/CylindricalBoundary.h

@@ -59,8 +59,11 @@ private:
 inline
 void CylindricalBoundary::updateMassAndInertia(const real_t /*density*/)
 {
-   invMass_      = real_t(0.0);
-   invInertiaBF_ = Mat3(real_t(0.0));
+   mass_         = std::numeric_limits<real_t>::infinity();
+   invMass_      = real_t(0);
+
+   inertiaBF_    = Mat3(std::numeric_limits<real_t>::infinity());
+   invInertiaBF_ = Mat3(real_t(0));
 }
 
 inline

src/mesa_pd/data/shape/Ellipsoid.h

@@ -61,7 +61,9 @@ void Ellipsoid::updateMassAndInertia(const real_t density)
          real_c(0.2) * m * (semiAxes_[2] * semiAxes_[2] + semiAxes_[0] * semiAxes_[0]),
          real_c(0.2) * m * (semiAxes_[0] * semiAxes_[0] + semiAxes_[1] * semiAxes_[1]));
 
+   mass_         = m;
    invMass_      = real_t(1.0) / m;
+   inertiaBF_    = I;
    invInertiaBF_ = I.getInverse();
 }