I had a look at the code and noticed that you're directly setting the mass and moment values rather than going through the C accessor. In this case, the values in the struct shouldn't be directly modified because the accessors also set m_inv and i_inv to save calculation time for functions that need them.
I had a look at the code and noticed that you're directly setting the mass and moment values rather than going through the C accessor. In this case, the values in the struct shouldn't be directly modified because the accessors also set m_inv and i_inv to save calculation time for functions that need them.