This model should usually not be used directly, because the mass properties have to be given as terminal variables and not as parameters. This allows the computation of the mass properties from other data, as well as the modification of the mass properties at event points. The following variables have to be computed in subclasses:
m : Mass of body in [kg].
rCM(3): Position vector from the origin of frame_a to the center
of mass, resolved in frame_a in [m].
I(3,3): Inertia tensor of the body with respect to the center of mass,
resolved in frame_a in [kgm^2]. The matrix must be
symmetric and positiv semi-definit.