I’m writing a small 3D physics engine, And i am trying to get the use of Angular Velocity Vector of two shapes specially two cubes
For deep understanding i have divide the motion to Linear and Angular motion
For Angular motion i have done few steps
I calculated the inertia tensor matrix which 3×3 so i could get the torque as following:
And for calculating the matrix i have used
By all of that i could get the Impulse and the final angular velocities for all shapes as following:
So my question how could i calculate the rotational angular which each object should rotate and for how long it should last ?