Mar 13, 2012 · The matrix of inertia is returned in the central coordinate system (G, Gx, Gy, Gz) where G is the centre of mass of the system and Gx, Gy, Gz the directions parallel to the X (1,0,0) Y (0,1,0) Z (0,0,1) directions of the absolute cartesian coordinate system. So, we have 3 moments of inertia: Ixx=7.35133e+06 Iyy=7.35133e+06
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