In unity3d there are two properties on rigidbody that correspond to the moment of inertia tensor.
One of them is:
rigidbody.inertiaTensor, which I know is the diagonal of the inertia tensor,
The other is
rigidody.inertiaTensorRotation, which I don't quite understand. I have, though, created a rigidbody in such a way that I get it to be other number than
Quatenion.identity, but I still don't see the connection.
Can I describe the products of inertia tensor with the rotation or ... what is the relation between them and where would I require them?