private static agx.SPDMatrix3x3 GetInertiaTensor(Vector3 diagonal,
DefaultAndUserValueVector3 offDiagonal)
{
var inertia = new agx.SPDMatrix3x3(diagonal.ToVec3());
// Off-diagonal elements are by default 0 when the user
// has specified the diagonal.
if (!offDiagonal.UseDefault)
{
inertia.set(offDiagonal.UserValue[0], 0, 1);
inertia.set(offDiagonal.UserValue[1], 0, 2);
inertia.set(offDiagonal.UserValue[2], 1, 2);
}
return(inertia);
}
private static agx.Vec3 GetNativeOffDiagonal(agx.SPDMatrix3x3 nativeInertia)
{
return(new agx.Vec3(nativeInertia.at(0, 1),
nativeInertia.at(0, 2),
nativeInertia.at(1, 2)));
}