* Returns the momentum of inertia tensor corresponding to a homgenuously
* filled sphere of the given radius and mass.
*/
public static Matrix getSphereInertialTensor(double m, double r) {
double momentum = 0.4f * m * r * r;
return new Matrix(new double[][] { { momentum, 0, 0 },
{ 0, momentum, 0 }, { 0, 0, momentum } });
}