If I have an object with a linear factor of (0,0,0) and an angular factor of (1,1,1), I'd expect an impulse applied to this object to cause it to rotate (unless the impulse is aimed directly at the objects centre of mass).
But the impulse is scaled by the linear factor before being appllied as a torque impulse, which means that the object currently fails to rotate.
I have locally fixed this by going into this function:
And changing this line:
I'd be interested in knowing if this is indeed a bug, or I am misunderstanding the meaning of the m_linearFactor variable.