Rotation of complex object

[P_Kras]

I'm creating space ship.

ship1.png (9.61 KiB) Viewed 1722 times

Ship consisting of modules. Each of them have btRigidBody. Contacting modules connected with constraints.
Four small spheres at sides are maneuvering thrusters.
I want to control my ship by applying forces to them.
When I tries to apply force like this:

ship3.png (9.71 KiB) Viewed 1722 times

everything is ok, ship is moving forward.
But when I tries to rotate ship (yaw in this case) ship isn't rotating.

ship3.png (9.66 KiB) Viewed 1704 times

I also noticed that when I apply side force to only one thruster (can't attach fourth image, look at second) ship is moving sideway but not rotating.

I'm sure there is something wrong with constraints here. I tried to use fixed, hinge and dof6 constraints but it didn't help.

[P_Kras]

I've found problem. I didn't call m_shape.calculateLocalInertia() and didn't specify inertia in rigid body constructor.