Physics Simulation Forum

Checking bullet source, it seems that for one the inertia calculations are incorrect (mathematically speaking) for a right cone. Instead the inertia for a cuboid is being used.

Also, surely the cone shape should be centered about it's centre of mass or else a cone rotating under no external influence would not be moving in a physically realistic way?

This also applies to the capsule shape which too, has it's inertia calculated as though it's simply a box, as well as the convex polyhedral shape and I have not checked any other shapes.