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David Eberly has a pretty nice followup to Mirtich [1].

[1] http://www.geometrictools.com/Documentation/PolyhedralMassPr...



Eberly's method is faster, but for rigid-body work, mass properties are precomputed once and stored. It's not necessary to run that algorithm during the simulation. Even for thousand-face polyhedra, it's not that slow to precompute mass properties.




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