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2015-02-02 13:44:35 -0600 commented answer The inertia matrix explained

Hi, thanks for the step-by-step tutorial, it has been very helpful. I just have one question regarding the inertia tensor - considering its SI unit is kg.m^2, I wondering if I also have to multiply the produced inertia tensor by twice the ratio of meshlab units to meters (similar to what is done to calculate the center of mass in the previous step)? This would be in addition to multiplying the inertia tensor by 1/s^2 (where s is the reciprocal of the scale used for upscaling)