Fix trimesh inertia tensor

ThierryBerger · krsnik02 · ThierryBerger · commit 0a4f4b58a72b · 2025-03-27T15:38:06.000+01:00
Co-authored-by: Gwenhwyfar Hartshaw &lt;1832977+krsnik02@users.noreply.github.com&gt;
diff --git a/src/mass_properties/mass_properties_trimesh3d.rs b/src/mass_properties/mass_properties_trimesh3d.rs
@@ -148,7 +148,7 @@ pub fn tetrahedron_unit_inertia_tensor_wrt_point(
         + x4 * y4 * 2.0)
         * 0.05;
 
-    Matrix::new(a0, -b1, -c1, -b1, b0, -a1, -c1, -a1, c0)
+    Matrix::new(a0, -c1, -b1, -c1, b0, -a1, -b1, -a1, c0)
 }
 
 /// Computes the volume and center-of-mass of a mesh.

Original file line number	Diff line number	Diff line change
`@@ -148,7 +148,7 @@ pub fn tetrahedron_unit_inertia_tensor_wrt_point(`
`148`	`148`	`+ x4 * y4 * 2.0)`
`149`	`149`	`* 0.05;`
`150`	`150`
`151`		`- Matrix::new(a0, -b1, -c1, -b1, b0, -a1, -c1, -a1, c0)`
	`151`	`+ Matrix::new(a0, -c1, -b1, -c1, b0, -a1, -b1, -a1, c0)`
`152`	`152`	`}`
`153`	`153`
`154`	`154`	`/// Computes the volume and center-of-mass of a mesh.`