/** * Assuming {@code matrix} represents a proper 6-by-6 inertia matrix, it is added to this * inertia. * * @param matrix the inertia matrix to add. Not modified. */ public void add(DenseMatrix64F matrix) { MecanoTools.addEquals(0, 0, matrix, angularInertia); MecanoTools.addEquals(3, 3, matrix, linearInertia); MecanoTools.addEquals(0, 3, matrix, crossInertia); }