<% # SI units (length in meters) # Geometry # Height h = 0.13 # Base diameter d1 = 0.055 b = d1/2.0 # Top diameter d2 = 0.075 a = d2/2.0 # Inertia # http://www.wolframalpha.com/input/?i=conical+frustum+moment+of+inertia+tensor+of+solid #Need to calculate moment if bottom of frustum is closed mass = 0.0599 ixx = ( 2.0*h**2 * (a**2 + 3*a*b + 6*b**2) + 3*(a**4 + a**3*b + a**2*b**2 + a*b**3 + b**4) ) / ( 20.0*(a**2 + a*b + b**2) )*mass iyy = ixx izz = 3*(a**4 + a**3*b + a**2*b**2 + a*b**3 + b**4)/( 10*(a**2 + a*b + b**2 ) )*mass %> 0 0 <%= h/2 %> 0 0 0 <%= mass %> <%= ixx %> 0 0 <%= iyy %> 0 <%= izz %> model://plastic_cup/meshes/plastic_cup.dae 0.1 0.001 model://plastic_cup/meshes/plastic_cup.dae