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Inertia tensor for a sphere?

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Could someone help explain how I get the intertia tensor for a sphere and how would I apply that to the calculated torque and angularVelocity of a sphere? And is the inertia tensor only for rotations and not for linearvelocity? thx [Edited by - johnnyBravo on November 25, 2006 12:53:34 AM]

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Original post by johnnyBravo
Could someone help explain how I get the intertia tensor for a sphere...
Here is the first hit from Google for 'sphere inertia tensor'.
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...and how would I apply that to the calculated torque and angularVelocity of a sphere?
These equations are well documented in (among other places) David Baraff's and Chris Hecker's respective series of articles (both of which are available online).
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And is the inertia tensor only for rotations and not for linearvelocity?
Yes (AFAIK, at least). Linear velocity is related to linear momentum (and force is related to linear acceleration) by the total mass of the object, while the inertia tensor plays a similar role with respect to angular effects.

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