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itensor and itensorlocalinv


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Hello Folks,

What are these 3x3 matrices good for ?

To me itensorlocalinv seems to be related to mass as it gets recomputed with it.

Could someone shine some light on these fancily named tensors ?


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Maybe it is the moment of inertia tensor. The moment of inertia is somewhat related to the concept of mass when dealing with rotational motion, and maybe that's why it is calculated together. It needs to be a tensor because the rotational axes can be anything in an rbd sim and then, well, things get complicated and tensors are coordinate independant.

That's my hunch. More than that, I do not know.

Edited by Macha
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