I'm using a physics programming library named Bullet and the documentation is really lacking so I have to figure much of it out as I go. I have a box with side lengths of 1 and mass 1. The "local inertia" calculated is the vector (0.16, 0.16, 0.16), according to the formula for a cuboid here (lists of moments of inertia). So is it the case that each component of the vector is the inertia when rotating the object around x, y and z axes respectively through the center of mass?
I want to figure out how much torque I need to apply to cancel out or stop its rotational velocity in a certain amount of time, however I'm not sure what proportion the torque is to the angular acceleration. For example if I have a box rotating about its X axis with an angular velocity of (1, 0, 0), I think the box rotates at one radian per second, but then I need to figure out how much torque needs to be applied for one second to stop that rotation in one second.
Is there a convention used for this or a way to figure out how the torque relates to the inertia? For example the inertia about the X axis for the box is 0.1666, is there a torque force I can apply to figure out how they relate? Or maybe you can just explain it.
The torque function takes a 3-component vector, which is direction, and the magnitude is the torque I'm pretty sure.
Secondly, let's say that the box is not rotating on one of its basis axes, if I want to apply torque to cancel out the rotation in a certain time then I need the moment of inertia for that particular axis, right? But I only have the inertia for rotating about three axes, the x, y and z. Is there a way to figure out what the inertia is for an arbitrary axis?
Could the explanation be as simple as possible please? I'm not familiar with advanced math stuff.