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Fix angular inertia calculation in RigidBody::add_local_inertia_and_com #282

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Fixed angular inertia calculation in RigidBody::add_local_inertia_and…

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Fix angular inertia calculation in RigidBody::add_local_inertia_and_com #282

Fixed angular inertia calculation in RigidBody::add_local_inertia_and…
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