I use AddBodyTorque(new Vector3(0, 0, 1)) to add torque to a cube(w/h/d = 1, mass = 1). Then I use ClearForces() so the cube should rotate in a fix angular velocity. It works.
But if the angular velocity is about 40~50, it often gets trouble. The angular velocity will be getting smaller and smaller. The decreasing speed is high in the beginning
, then become lower as the angular velocity getting smaller.
I found in the Body.UpdatePositionWithAux(float dt), "Vector3.TransformNormal(ref angMomBefore, ref worldInvInertia, out transformRate.AngularVelocity);" is the cause.
Is it a bug?