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Co-authored-by: Steve Peters <[email protected]> Signed-off-by: Benjamin Perseghetti <[email protected]>
rudislabs · May 17, 2024 · d5f7070 · d5f7070
1 parent 3a1aa5e
commit d5f7070
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/include/gz/math/MassMatrix3.hh b/include/gz/math/MassMatrix3.hh
@@ -952,7 +952,7 @@ namespace gz
         {
           return false;
         }
-        T volume = GZ_PI * _radius * _radius * _length;
+        T volume = GZ_PI * _radius * _radius * _length / 3.0;
         return this->SetFromConeZ(_mat.Density() * volume,
                                       _length, _radius, _rot);
       }

diff --git a/include/gz/math/detail/Cone.hh b/include/gz/math/detail/Cone.hh
@@ -144,7 +144,7 @@ template<typename T>
 T Cone<T>::Volume() const
 {
   return GZ_PI * std::pow(this->radius, 2) *
-         this->length;
+         this->length / 3.0;
 }
 
 //////////////////////////////////////////////////

diff --git a/src/Cone_TEST.cc b/src/Cone_TEST.cc
@@ -107,7 +107,7 @@ TEST(ConeTest, VolumeAndDensity)
 {
   double mass = 1.0;
   math::Coned cone(1.0, 0.001);
-  double expectedVolume = (GZ_PI * std::pow(0.001, 2) * 1.0);
+  double expectedVolume = (GZ_PI * std::pow(0.001, 2) * 1.0 / 3.0);
   EXPECT_DOUBLE_EQ(expectedVolume, cone.Volume());
 
   double expectedDensity = mass / expectedVolume;

diff --git a/src/python_pybind11/test/Cone_TEST.py b/src/python_pybind11/test/Cone_TEST.py
@@ -87,7 +87,7 @@ def test_mutators(self):
     def test_volume_and_density(self):
         mass = 1.0
         cone = Coned(1.0, 0.001)
-        expectedVolume = (math.pi * math.pow(0.001, 2) * 1.0)
+        expectedVolume = (math.pi * math.pow(0.001, 2) * 1.0 / 3.0)
         self.assertEqual(expectedVolume, cone.volume())
 
         expectedDensity = mass / expectedVolume