Function decomposePrincipalMomentsOfInertia

decomposePrincipalMomentsOfInertia(
    inertia: Mat4,
    outRotation: Mat3,
    outDiagonal: Vec3,
): boolean
Decomposes the inertia tensor into principal moments (eigenvalues) and rotation matrix (eigenvectors) Uses Jacobi's eigenvalue algorithm for 3x3 symmetric matrices

Based on Jolt Physics EigenValueSymmetric implementation from Numerical Recipes paragraph 11.1
Parameters
- inertia: Mat4
- outRotation: Mat3
- outDiagonal: Vec3
Returns boolean
See
https://en.wikipedia.org/wiki/Eigenvalues_and_eigenvectors
- Defined in src/body/motion-properties.ts:199