diff --git a/src/dynamics/integrator/semi_implicit_euler.rs b/src/dynamics/integrator/semi_implicit_euler.rs
index 5c9ffaf7..ee902ff5 100644
--- a/src/dynamics/integrator/semi_implicit_euler.rs
+++ b/src/dynamics/integrator/semi_implicit_euler.rs
@@ -77,13 +77,9 @@ pub fn integrate_velocity(
         // However, the basic semi-implicit approach can blow up, as semi-implicit Euler
         // extrapolates velocity and the gyroscopic torque is quadratic in the angular velocity.
         // Thus, we use implicit Euler, which is much more accurate and stable, although slightly more expensive.
-        let effective_inertia = locked_axes.apply_to_rotation(inv_inertia.0).inverse();
-        delta_ang_vel += solve_gyroscopic_torque(
-            *ang_vel,
-            rotation.0,
-            Inertia(effective_inertia),
-            delta_seconds,
-        );
+        let delta_ang_vel_gyro =
+            solve_gyroscopic_torque(*ang_vel, rotation.0, inv_inertia.inverse(), delta_seconds);
+        delta_ang_vel += locked_axes.apply_to_angular_velocity(delta_ang_vel_gyro);
     }
 
     if delta_ang_vel != AngularVelocity::ZERO.0 && delta_ang_vel.is_finite() {