/** * Computes the moment of inertia matrix for a solid ellipsoid. * * @param mass the ellipsoid mass. * @param radii the three radii of the ellipsoid. Not modified. * @return the moment of inertia of the ellipsoid. */ public static Matrix3D solidEllipsoid(double mass, Tuple3DReadOnly radii) { return solidEllipsoid(mass, radii.getX(), radii.getY(), radii.getZ()); }