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)));
}