Fix gyroscopic torque#745
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Objective
#738 optimized gyroscopic torque. However, it also broke it! The current algorithm only uses the diagonal of the inertia tensor at the end, when it should be using the full tensor.
Solution
Use the full tensor.
Alternatively, if we represented the inertia tensor with the principal moments of inertia and an orientation, we would just apply that additional orientation. This is what Jolt does.