[ODE] how to get a body's rotation speed?

[Adrian Grigore]

Hi Everybody,

I am new to both 3D Programming and ODE, so please forgive me this newbie 
question:

I am trying to simulate the behavior of a pin wheel with ode. For this 
purpose, I have built a pin wheel that is faced upwards and drop lots of 
small spheres onto the wheel until it starts turning. Now that the wheel is 
slowly spinning around the (0,0,1) vector, I am looking for a way to get 
the wheel's speed as a dReal value.

How do I do this? I have tried lots of different combinations (mostly using 
dBodyGetAngularVel), but everything seemed to produce strange values 
(mostly zeroes, oscilating from time to time although the body's rotation 
speed remained almost constant in the 3d view).

Any help would be greatly appreciated... Thanks in advance for your time!

Best Regards,

Adrian Grigore

--
Adrian Grigore
adrian@lobstersoft.com