inertiaMatrix (output): the inertia matrix or tensor (9 values), expressed relative to transformationMatrix (which coincides with the center of mass). The matrix is diagonal, i.e. contains the principal moments of inertia.
transformationMatrix (output): a transformation matrix (12 values) expressed relative to the shape's reference frame. The matrix indicates the center of mass of the shape, and is the frame relative to which inertiaMatrix is expressed.