Hi all, I'm trying to convert a Vector3 Torque, Matrix33 Inertia tensor, Quaternion orientation, and change in time to a change in angular velocity(W). The problem is that W is the yaw/pitch/roll around the world axes, but the Torque is around the Center of Mass. I think I need something along the lines of: dW = Torque x Inv_Inertia_Tensor * dT; W += TransformToWorld(dW); I could, of course, define W as relative to the current axes, but this would require changing it every time orientation changes. Any help is appreciated, and I'm open to totally new implementations if necessary. Thanks, BTF

Your method looks correct.

Usually you keep an updated version of the world inertia matrix and specify torque in the world frame. Depending on your application, this may not be very "performant." If you're not calling 'appy torque' a lot, then there's no point in updating the matrix, just do the transformation when the object is 'torqued.'

Just my $0.02