private Matrix3d SteinerToCoM(Matrix3d offsetTensor, Vector3d offset, double bodyMass) { var pointTensor = PointMassTensor(bodyMass, offset); pointTensor.Row0 *= -1.0; pointTensor.Row1 *= -1.0; pointTensor.Row2 *= -1.0; return(Matrix3d.Add(offsetTensor, pointTensor)); }
private Matrix3d Steiner(Matrix3d tensorCoM, Vector3d offset, double bodyMass) { return(Matrix3d.Add(tensorCoM, PointMassTensor(bodyMass, offset))); }