RungeKuttaCashKarp54Integrator not Working for Aspherical Bodies
Hi. I was comparing the results of some simulations against RungeKuttaCashKarp54Integrator and found that some values were not fine. Then, I did this test. Here I have an aspherical body rotating without torque. Then, I found out that the results of the RungeKuttaCashKarp54Integrator make no sense. Here is what the normal YADE integrator outputs which is in line with the analytical solution:
What the RungeKuttaCashKarp54Integrator outputs is
This means that it's not taking into account the inertia terms in the rigid body equations of motion:
He is just seeing that there's no torque, then it outputs a constant angular velocity which is not correct.
What could we do to fix this? I believe is a matter of adding the missing term, but after looking at the source code I'm not sure where to add it. I would appreciate some help to sort this out.
Best regards.