///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia"
///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the
///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
///of the collision object by the principal transform. This method also computes the volume of the convex mesh.
public void CalculatePrincipalAxisTransform(ref IndexedMatrix principal, out IndexedVector3 inertia, float volume)
{
CenterCallback centerCallback = new CenterCallback();
IndexedVector3 aabbMax = MathUtil.MAX_VECTOR;
IndexedVector3 aabbMin = MathUtil.MIN_VECTOR;
m_stridingMesh.InternalProcessAllTriangles(centerCallback, ref aabbMin, ref aabbMax);
IndexedVector3 center = centerCallback.GetCenter();
principal._origin = center;
volume = centerCallback.GetVolume();
InertiaCallback inertiaCallback = new InertiaCallback(ref center);
m_stridingMesh.InternalProcessAllTriangles(inertiaCallback, ref aabbMax, ref aabbMax);
IndexedBasisMatrix i = inertiaCallback.GetInertia();
i.Diagonalize(out principal, 0.00001f, 20);
//i.diagonalize(principal.getBasis(), 0.00001f, 20);
inertia = new IndexedVector3(i[0, 0], i[1, 1], i[2, 2]);
inertia /= volume;
}
///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia"
///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the
///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
///of the collision object by the principal transform. This method also computes the volume of the convex mesh.
public void CalculatePrincipalAxisTransform(ref IndexedMatrix principal, out IndexedVector3 inertia, float volume)
{
CenterCallback centerCallback = new CenterCallback();
IndexedVector3 aabbMax = MathUtil.MAX_VECTOR;
IndexedVector3 aabbMin = MathUtil.MIN_VECTOR;
m_stridingMesh.InternalProcessAllTriangles(centerCallback, ref aabbMin, ref aabbMax);
IndexedVector3 center = centerCallback.GetCenter();
principal._origin = center;
volume = centerCallback.GetVolume();
InertiaCallback inertiaCallback = new InertiaCallback(ref center);
m_stridingMesh.InternalProcessAllTriangles(inertiaCallback, ref aabbMax, ref aabbMax);
IndexedBasisMatrix i = inertiaCallback.GetInertia();
i.Diagonalize(out principal, 0.00001f, 20);
//i.diagonalize(principal.getBasis(), 0.00001f, 20);
inertia = new IndexedVector3(i[0,0],i[1,1],i[2,2]);
inertia /= volume;
}