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Fix angular inertia calculation in RigidBody::add_local_inertia_and_com #282

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Fix angular inertia calculation in RigidBody::add_local_inertia_and_com #282

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DasEtwas
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Closes #280

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The code was tested using the provided examples and did show a much more stable and robust feeling behaviour of the objects in the "Compound Shapes" demo.

@DasEtwas DasEtwas changed the title Fixed angular inertia calculation in RigidBody::add_local_inertia_and_com Fix angular inertia calculation in RigidBody::add_local_inertia_and_com Dec 28, 2020
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Wrong inertia calculation in <RigidBody<N> as BodyPart<N>>::add_local_inertia_and_com
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