Consider using polyhedral_mass_properties

[mo8it]

polyhedral_mass_properties is a library that I just published to calculate mass properties (mass, center of mass and inertia matrix/tensor) of triangle meshes. It is at least 2x faster than MassProperties::from_trimesh. See benchmark.

Using MassProperties::reconstruct_inertia_matrix returns a matrix where xy and xz are swapped. This is probably a bug in the implementation of Parry (I compared with other implementations, not only mine).

If you need any help, please let me know. I could add a version for f32 and add the Apache license.