Inertia tensor in Matrix Form from InertiaTensor and InertiaTensorRotation

Unity Engine
11

The page 67 of this presentation from Stan Melax at GDC2014 describes the actual equivalency:

7516184--927107--upload_2021-9-23_11-15-53.png

In our case, S would be the inertia tensor matrix, D a diagonal matrix with the inertia tensor vector, and R the matrix-equivalent of the inertia tensor rotation.

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