Change of angular velocity integration method. #422
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Angular velocity should be computed in the rotated coordinate system to get the proper value of the angular momentum derivative: https://en.wikipedia.org/wiki/Euler%27s_equation_of_motion The provided code change switches angular velocity integration to the local (rotating) coordinate system. A unit test is added. In the absence of external torque (caused by gravity or contact), the angular momentum vector should remain constant. The included unit test verifies this property.
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Angular velocity should be computed in the rotated coordinate system to get the proper value of the angular momentum derivative: https://en.wikipedia.org/wiki/Euler%27s_equation_of_motion
The provided code change switches angular velocity integration to the local (rotating) coordinate system.
A unit test is added. In the absence of external torque (caused by gravity or contact), the angular momentum vector should remain constant. The included unit test verifies this property.