private void precomputeAdjointTimesInertia()
{
tempAdjoint.zero();
for(int i = 0; i<jointList.length; i++)
{
rigidBodies[i].getInertia().getExpressedInFrame().getTransformToDesiredFrame(tempTransform, centerOfMassFrame);
tempTransform.get(tempMatrix3d,tempVector);
set3By3MatrixBlock(tempAdjoint, 0, 0, tempMatrix3d);
set3By3MatrixBlock(tempAdjoint, 3, 3, tempMatrix3d);
MatrixTools.toTildeForm(tempPTilde, tempVector);
tempPTilde.mul(tempMatrix3d);
set3By3MatrixBlock(tempAdjoint, 0, 3, tempPTilde);
rigidBodies[i].getInertia().getMatrix(tempInertiaMatrix);
CommonOps.mult(tempAdjoint, tempInertiaMatrix, denseAdjTimesI[i]);
}
}