MOI visualization doesn't consider off-diagonal terms

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Issue #880 resolved
Steve Peters created an issue

The MOI visualization introduced in pull request #745 does not consider off-diagonal terms. From

  // Use principal moments of inertia to scale COM visual
  // TODO: rotate COM to match principal axes when product terms are nonzero
  // This can be done with Eigen, or with code from the following paper:
  // A Method for Fast Diagonalization of a 2x2 or 3x3 Real Symmetric Matrix

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