*Bounty: 50*

*Bounty: 50*

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 ?