@name Contraption Inertia Finder [Tolyzor]
@model models/props_c17/oildrum001.mdl
@inputs Parent:entity
@outputs Inertia:vector Mass

Contraption = Parent:getConstraints()
Contraption:pushEntity(Parent)

CoG = vec()
MoI = matrix()
Mass = 0

foreach (K, E:entity = Contraption) {
     CoG += E:massCenter() * E:mass()
     Mass += E:mass()
}
CoG /= Mass

foreach (K, E:entity = Contraption) {
     Offset = CoG - E:massCenter()
     EMoI = matrix():setDiagonal(E:inertia() * 1550.1)
     EMoI = matrix(E) * EMoI * transpose(matrix(E))
     EMoI += E:mass() * (Offset:dot(Offset) * identity() - Offset:outerProduct(Offset))
     MoI += EMoI
}

CoG = Parent:toLocal(CoG)
MoI = transpose(matrix(Parent)) * MoI * matrix(Parent)
Inertia = diagonal(MoI)/1550.1