[ODE] Moment of Inertia

[Martin C. Martin]

Hey Brian,

The MOI tensor is just a matrix, and if you choose the axes as the 
"natural" axes, it's a triangular matrix.  So, just put the x/y/z MOIs 
along the diagonal, and make the rest of the entries zero.  Take a look 
at the dSetMassX functions (or is it dMassSetX?  Something like that.)

By the way, is this the Brian Clarkson who did his Ph.D. with Sandy 
Pentland?  'Cause I'm now a postdoc with Sandy...

Cheers,
Martin

Brian Clarkson wrote:

> Can any of you MOI experts help me with this.
> 
> Its not difficult to determine the x/y/z MOIs of a body if you are able to
> handle
> it. For example a small model car.
> See http://kwon3d.com/theory/moi/meas.html  [22].
> 
> Its not difficult to suspend a body to form a pendulum and measure all the
> values needed for the calculation.
> Its also not difficult to create a hinge and replicate the setup with ode to
> verify results. What I don't know
> is how to create to the MOI tensor for the known xyz MOIs. Can anyone help
> me.
> 
> Brian..
> 
> 
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