mat33 randomInertiaMatrix() {
// generate random valid inertia matrix by first getting valid components
// along major axes and then rotating by random amount
vec3 principal = randomInertiaPrincipal();
mat33 rot(transformX(randomFloat(-BT_ID_PI, BT_ID_PI)) * transformY(randomFloat(-BT_ID_PI, BT_ID_PI)) *
transformZ(randomFloat(-BT_ID_PI, BT_ID_PI)));
mat33 inertia;
inertia(0, 0) = principal(0);
inertia(0, 1) = 0;
inertia(0, 2) = 0;
inertia(1, 0) = 0;
inertia(1, 1) = principal(1);
inertia(1, 2) = 0;
inertia(2, 0) = 0;
inertia(2, 1) = 0;
inertia(2, 2) = principal(2);
return rot * inertia * rot.transpose();
}
ZPoint ZStTransform::transform(const ZPoint &pt) const
{
return ZPoint(transformX(pt.x()), transformY(pt.y()), transformZ(pt.z()));
}
