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1

That's correct. In a few cases, you will want to take into account the rigidbody.inertiaTensorRotation. It defines the rotation of the moment of inertia. However, in most cases, this is just going to be the identity quaternion.


2

inertiaTensor is a Vector3, inertiaTensorRotation is a Quaternion. And from the docs for inertiaTensor: The inertia tensor is rotated by the inertiaTensorRotation. Essentially, inertiaTensor is the moment of inertia (defined as a tensor) and the inertiaTensorRotation is how that tensor is rotated. If you'd like them to be calculated automatically, you ...



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