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Calculating the inertia tensors for an arbitary convex hull

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You might start here. However, as is often pointed out calculating the exact inertia tensor is usually overkill - in most cases a simpler volume of similar shape will suffice. For one thing, most objects we might want to represent (such as a spaceship or airplane) aren't of uniform density anyway, so even the 'exact' calculation is an approximation. But if for some reason you do need the exact tensor, the above paper and the Mirtich paper it refers to are the two references that come to mind most readily.

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