using inertia tensor vector instead of inertia matrix

Questions & Answers
1

I want to implement tire physics according to the content of this session.

I have a question in the lateral clamp section on page 24.

vector inertia_force_rotation_axis_vector = vehicle_inertia_matrix * force_rotation_axis;

As far as I can see, Unity can get Inertia Tensor (Vector3) and Inertia Tensor Rotation (Quaternion), but I don’t know how to make it into code instead of using InertiaMatrix.

Sorry for google translated english.

2

Here’s the method for converting an inertia matrix into vector and rotation:

http://answers.unity.com/answers/1716025/view.html

The other way around, getting the inertia matrix out of the vector and rotation, is yet to be found:

https://forum.unity.com/threads/inertia-tensor-in-matrix-form-from-inertiatensor-and-inertiatensorrotation.940377/