Path: Common/Transform
% Recompute the moment of inertia "i" by translating axes.
There are two cases:
- translating the origin by "r", body has mass "m"
- adding a point mass "m" at location "r" from the origin
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Form:
i = TranslateAxes( i, r, m, sgn )
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Inputs
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i (3,3) Original Moment of Inertia
r (3,1) Translation vector
m (1) Mass of body
sgn (1) Sign of inertia change.
+1 Positive if point mass added
or if origin moved away from CG
-1 Negative if origin moved towards CG
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Outputs
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i (3,3) New Moment of Inertia
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Common: Transform/IConv
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