When does Unity calculate a Inertia tensor?

Questions & Answers
1

Let’s say I change rigidBody’s center of mass in the Awake method.

void Awake()
{
rigidbody.centerOfMass = new Vector3(0,0,-1);
}

After this, are the torque/inertia tensor calculations based on the old (0,0,0) or the new(0,0,-1) position of center of mass.

And an other question about inertiaTensor calculation. Will Unity calculate a new inertiaTensor when a rigidbody’s collider is enable/disable or a new collider is added as a child?

2

the rigidbody will recalculate M, COM, and I on start and whenever a collider is added or removed. A warning about adding new colliders as child while running, unity has a rather annoying glitch that causes the rigidbody to lock up and not recalculate sometimes which causes it to ignore some of the child colliders. see my post for possible work around.