<% # Wood block with dimensions 10 x 2.5 x 1 cm # SI units (length in meters) # Geometry dx = 0.1 dy = 0.025 dz = 0.01 # Material # Assume soft wood with density of 500 kg / m^3 density = 500 # Inertia mass = density * dx * dy * dz ixx = mass/12.0 * (dy**2 + dz**2) iyy = mass/12.0 * (dz**2 + dx**2) izz = mass/12.0 * (dx**2 + dy**2) %> 0 0 <%= dz/2 %> 0 0 0 <%= mass %> <%= ixx %> 0 0 <%= iyy %> 0 <%= izz %> <%= dx %> <%= dy %> <%= dz %> 0.1 0.001 <%= dx %> <%= dy %> <%= dz %>