From bb6010f39c05e936d639281d3856eaff1d2a6f4c Mon Sep 17 00:00:00 2001
From: andy <andy>
Date: Wed, 10 Jan 2007 19:04:59 +0000
Subject: [PATCH] Missed changed file somehow, oops.

---
 src/FDM/YASim/RigidBody.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/FDM/YASim/RigidBody.cpp b/src/FDM/YASim/RigidBody.cpp
index 5456aa56b..7f530305b 100644
--- a/src/FDM/YASim/RigidBody.cpp
+++ b/src/FDM/YASim/RigidBody.cpp
@@ -204,4 +204,14 @@ void RigidBody::getAngularAccel(float* accelOut)
     Math::vmul33(_invI, v, v);   // v = invI*(tau + (omega X I*omega))
 }
 
+void RigidBody::getInertiaMatrix(float* inertiaOut)
+{
+    // valid only after a call to RigidBody::recalc()
+    // See comment at top of RigidBody.hpp on units.
+    for(int i=0;i<9;i++)
+    {
+       inertiaOut[i] = _tI[i];
+    }
+}
+
 }; // namespace yasim