Function getInverseInertiaForRotation

getInverseInertiaForRotation(
    out: Mat4,
    motionProperties: MotionProperties,
    bodyRotation: Mat4,
): Mat4
Computes the world-space inverse inertia matrix for a given body rotation.

Formula: I_inv_world = R * diag(invInertiaDiagonal) * R * mInertiaRotation * R^T where R is the body's rotation matrix.
Parameters
- out: Mat4
  output Mat4 to store the result
- motionProperties: MotionProperties
  motion properties containing inertia data
- bodyRotation: Mat4
  body's rotation matrix (Mat4)
Returns Mat4
out parameter
- Defined in src/body/motion-properties.ts:494