Friction makes the rotation of a rigid body behave abnormal

[Dekermann]

If you look at the picture below it illustrats what happens (but I don't want to happen) when I want to rotate my rigid body.
(On this picture I'm trying to turn right)



First off the point it rotates around some times changes between tests and in the middle of a test.

When friction on the bodies is turned off this doesn't happen and the character rotates around its center.

To turn the character rigid bodies "SetAngluarVelocity" is used.