Hi, I have a simple particle integrator for quick RBD pre-visualisation. I wanted to match what I would get from a bullet SIM with no collisions (basically just the initial forces, and gravity) but Rotational Stiffness is modifying the initial angular momentum of the bullet sim, causing the output of my integrator to be different (since Rotational Stiffness is defaulted to 1).
Can someone help me add a rotational stiffness/inertial tensor stiffness calculation to my integrator in VEX?

Thanks!

Here is the file showing my initial vex setup (adding @w to rotation), a bullet sim with Rotational stiffness = 0, which matches my vex setup. And a bullet sim with the Rotational Stiffness = 1 (default) that shows the difference in rotation. I would like to match the Rotational Stiffness = 1 with my vex setup.