   Angular velocity & interia tensor giving odd results.
  Picture a stationary box of different dimensions length, breadth & height. It is twisted so none of its local axes coincide with any world axes. Then I apply a torque (A,0,0) in world coords ie trying to twist about the world x-axis. In my mind it should begin to rotate about the world x-axis (and it does if he inertia is modelled as a sphere) but because we''re doing...dw = torque*(rot*invI*invRot)(where dw=change in ang. vel, invI is inverse of the inertia tensor in local coords)...the rotation is about some other axis (try it yourself on paper to see the dw vector has different direction to the torque one). I know it''s not my angular rotation code because if I just set a rotation about word x-axis it works as planned. So is it working as it should and I can''t tell or is there an error? 