function _computeInertiaProperties(T) {
    var polyhedralProperties = this.hull.polyhedralProperties;
    var T_values = T.get();
    var detT = T_values[0] * T_values[4] * T_values[8];

    var E_o = polyhedralProperties.eulerTensor;

    var E = new Mat33();
    Mat33.multiply(T, E_o, E);
    Mat33.multiply(E, T, E);
    var E_values = E.get();

    var Exx = E_values[0];
    var Eyy = E_values[4];
    var Ezz = E_values[8];
    var Exy = E_values[1];
    var Eyz = E_values[7];
    var Exz = E_values[2];

    var newVolume = polyhedralProperties.volume * detT;
    var mass = this.mass;
    var density = mass / newVolume;

    var Ixx = Eyy + Ezz;
    var Iyy = Exx + Ezz;
    var Izz = Exx + Eyy;
    var Ixy = -Exy;
    var Iyz = -Eyz;
    var Ixz = -Exz;

    var centroid = polyhedralProperties.centroid;

    Ixx -= newVolume * (centroid.y * centroid.y + centroid.z * centroid.z);
    Iyy -= newVolume * (centroid.z * centroid.z + centroid.x * centroid.x);
    Izz -= newVolume * (centroid.x * centroid.x + centroid.y * centroid.y);
    Ixy += newVolume * centroid.x * centroid.y;
    Iyz += newVolume * centroid.y * centroid.z;
    Ixz += newVolume * centroid.z * centroid.x;

    Ixx *= density * detT;
    Iyy *= density * detT;
    Izz *= density * detT;
    Ixy *= density * detT;
    Iyz *= density * detT;
    Ixz *= density * detT;

    var inertia = [
        Ixx, Ixy, Ixz,
        Ixy, Iyy, Iyz,
        Ixz, Iyz, Izz
    ];

    this.localInertia.set(inertia);
    Mat33.inverse(this.localInertia, this.localInverseInertia);
}
Determines mass and inertia tensor based off the density, size, and facet information of the polyhedron.

@method
@private
@param {Mat33} T The matrix transforming the intial set of vertices to a set reflecting the body size.
@return {undefined} undefined