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I have the same issue. But It only occurs atfer I use Postman to request server.
And It Only occurs on Unity Editor. I install apk on my 2 android...
I find cycclone-physics and bullet3 all use this method
I = R * local_I * R^-1 (like the way you using)
τ = I α
w = w + αΔt
(when no τ , then no...