[ODE] How to dMassSetParameters for arbitrary meshes?

[michael kapelko]

When compiled with OPCODE dMassSetTrimesh crashes my app with these errors:

ODE Message 2: inertia must be positive definite in dMassCheck() File 
mass.cpp Line 48

ODE INTERNAL ERROR 1: assertion "dMassCheck(mass)" failed in 
dBodySetMass() [ode.cpp]