Hello,
I have implemented a rigid body model using Baraff's paper. I have a case which is too confusing for me.
I have got two rigid body objects, there is no gravity, both are placed with 45 degrees roll to right. I apply a torque on Z axis. Object A with Ixx=Iyy=Izz=1 rotates nicely on its own Z axis.
The other object with Ixx=5, Iyy=1, Izz=1, starts like the other object but doesn't keep its rotation around its own Z axis and after some seconds it ends up turning about the world X axis.
I am not able to explain if this is an expected result or a problem in the implementation.
Any help is appreciated. Thanks.
P.S. My coord. sys is y forward, x on right, Z up.
MDE