/**
* @param inverseInertiaTensorLocal The 3x3 inverse inertia tensor matrix of the body in local-space
* coordinates
*/
void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTensorLocal) {
mUserInertiaTensorLocalInverse = inverseInertiaTensorLocal;
mIsInertiaTensorSetByUser = true;
if (mType != BodyType::DYNAMIC) return;
// Compute the inverse local inertia tensor
mInertiaTensorLocalInverse = mUserInertiaTensorLocalInverse;
// Update the world inverse inertia tensor
updateInertiaTensorInverseWorld();
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mID) + ": Set inverseInertiaTensorLocal=" + inverseInertiaTensorLocal.to_string());
}
