Calculates the centre of mass and the principal moment of inertia tensor (about centre of mass) of the elements of the mango.Dds array.
Parameters: |
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Return type: | three element tuple |
Returns: | A tuple (pmoi, pmoi_axes, c), where pmoi is a three element array indicating the ellipsoid axis diameters, pmoi_axes is a (3,3) shaped rotation matrix whose i th column indicates the direction of the pmoi[i] ellipsoid axis, and c is the centre-index argument. |