Math::vmul33(_invI, v, v); // v = invI*(tau + (omega X I*omega))
}
+void RigidBody::getInertiaMatrix(float* inertiaOut)
+{
+ // valid only after a call to RigidBody::recalc()
+ // See comment at top of RigidBody.hpp on units.
+ for(int i=0;i<9;i++)
+ {
+ inertiaOut[i] = _tI[i];
+ }
+}
+
}; // namespace yasim