How should I apply inertia for a floating object?
I am looking at the XML guide which states:
And I am confused about the wording marked with yellow. Lets take a simple example:
We have a cube placed some distance x and z away from the global origo. My understanding is then that inertia for the cube should be calculated w.r.t. the coordinate system locally at the cube and it has the same orientation as the global coordinate system.
This means that if the cube was tilted like this:
Then I would still calculate the inertia locally at the center of mass, but I would have to make sure that the orientation of the axes, matches the global coordinate system
Is my understanding correct?