for six DoF motion bodies that are not principal axis aligned shapes
to start with.
Calculates the best match axes to give the most naturl transformation
from the Cartesian axes. The eigenvectors are returned in the order
relating to ascending magnitude of their eigenvalues - not necessarily
in a right handed triplet.
http://www.geometrictools.com/LibPhysics/RigidBody/RigidBody.html
in surfaceInertia utility. Allows calculation of shell or solid
properties of a triSurface, with optionally specified volumetric or
surface density. Default behaviour is to calculate inertia around
centre of mass, with option to specify reference point.
Various test surfaces supplied and tested against analytical results.
