Hi jwatte,
AddTorque is specified in kg for mass, cm for distance, and rad/s for angular acceleration. In future we may add another function AddTorqueDegrees to make this more consistent with rest of engine, but I’m not sure how useful this would be since computing torque using angular acceleration requires knowledge of moment of inertia which is currently not exposed.
One thing to keep in mind with your example is geometry of your 200kg body will dictate moment of inertia. Here’s a reference page if you’re interested: http://en.wikipedia.org/wiki/List_of_moments_of_inertia
For example, if I have a 208kg cube which is 80cm x 80cm x 80cm associated moment of inertia will be 368058.469
This means that when I apply a torque of 10000 I should expect an angular acceleration of 10000/368058.469 rad/s = .027 rad/s or about 1.5 degrees / second.
If I setup a blueprint that applies this torque for 1 second and print out angular velocity I get an angular velocity of ~1.537 degrees / second.
Note that if I do this without sub-stepping turned on and with a very low frame-rate angular velocity may dip to around 1.2 degrees / second. This makes sense since without sub-stepping I’m essentially shortening amount of time torque is applied for.
I hope this helps clarify some of your concerns. Please let me know if you have any more questions!