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