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+%% Copyright (c) 2011 Juan Pablo Carbajal <carbajal@ifi.uzh.ch>
+%% 
+%%    This program 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
+%%    any later version.
+%%
+%%    This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
+
+%% -*- texinfo -*-
+%% @deftypefn {Function File} @var{J} = second_moment_poly2d (@var{p})
+%% Calculates the second moment of area of a 2D polygon.
+%%
+%% The polygon is described in @var{p}, where each row is a different vertex.
+%% The output @var{J} contains Ix, Iy and Ixy, in that order.
+%%
+%% The algorithm was adapted from P. Bourke web page
+%% @uref{http://local.wasp.uwa.edu.au/~pbourke/geometry/polyarea/}
+%%
+%% @seealso{inertia_moment_poly2d, center_mass_poly2d}
+%% @end deftypefn
+
+function J = second_moment_poly2d(poly)
+
+  N = size(poly,1);
+  nxt = [2:N 1];
+  px = poly(:,1);
+  px_nxt = poly(nxt,1);
+  py = poly(:,2);
+  py_nxt = poly(nxt,2);
+  
+  cm = zeros(1,2);
+  cr_prod = (px.*py_nxt - px_nxt.*py);
+
+  J = zeros(1,3);
+  J(1) = sum((py.^2 + py.*py_nxt + py_nxt.^2).*cr_prod);
+  J(2) = sum((px.^2 + px.*px_nxt + py_nxt.^2).*cr_prod);
+  J(3) = 0.5*sum((px.*py_nxt + 2*px.*py + px_nxt.*py_nxt + px_nxt.*py).*cr_prod);
+  J = J/12;
+  
+end
+

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