$\text{Rotational Energy} = \frac{1}{2} I \omega^2$. What $I$ should be used? $I$ as a inertia tensor matrix = stepRotation * inverse moment of inertia * inverse stepRotation; Or I as moment of inertia? Inertia tensor matrix gives changing energy due to rotation changes. So I don't believe its the right answer, but I'm not sure. Moment of inertia remains the same in simulation because it only represents the mass resistance to rotation in a fixed axis calculated by integration of massparticles * radius from object center.
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Um... what? The moment of inertia is a tensor. So $K = \frac{1}{2}\omega^T I\omega$ is always correct (for a rigid body). The formula only reduces to the "scalar" case $K = \frac{1}{2}I\omega^2$ if the object is rotating around one of its principal axes. |
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