If I enable or disable a collider, the rigidbody behaves completely different.
Even if the collider is never colliding.
I already found out that adding colliders changes Center-Of-Mass and the Inertia-Tensor.
So I override the center of mass and inertia tensor in Awake(), and still the simulation is completely different, depending on whether the rigidbody has a collider or not.
Is there something else that the collider does to the rigidbody, other than change its C.o.M. and Inertia Tensor?
Thanks!
It turned out that the colliders also automatically change the Rigidbody.inertiaTensorRotation field.
To not be dependent on collision geometry, you need to explicitly override the centerOfMass the inertiaTensor and inertiaTensorRotation values.
This is somewhat unfortunate, and can easily trip you up (especially coming from other Physics Engines like OpenDE or Bullet.) If an artist changes some collision shapes, the simulation will behave differently!
