[ODE] Balancing act
Stephen Moorhouse
Stephen.Moorhouse1 at ntlworld.com
Sun Aug 10 19:37:02 2003
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Hi every one.
I have a problem I have been trying to solve for a while now but I'm a =
bit stuck. I wonder if anyone here can help.=20
I have a capsule that i want to balance on one end. As the capsule =
topples from outside forces, say a shove in one direction, i grab its =
new and slightly different orientation each frame. I'd like to get the =
capsule to balance itself upright by applying some torque to fire it in =
the right direction. The trouble is i can't work out which direction the =
torque should be in.
quaternions seem to be one way to do this with slerping, but i don't =
want to violate the physical model. Perhaps there is a way of getting =
the difference between two quarternions. Or maybe this is possible with =
rotation matrices but i'm not sure how. My maths isn't up to it.
Anyone?
Any help much appreciated,
thanks for reading,
Stephen.
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<DIV><FONT face=3DArial size=3D2>Hi every one.</FONT></DIV>
<DIV><FONT face=3DArial size=3D2></FONT> </DIV>
<DIV><FONT face=3DArial size=3D2>I have a problem I have been trying to =
solve=20
for a while now but I'm a bit stuck. I wonder if anyone here can =
help.=20
</FONT></DIV>
<DIV><FONT face=3DArial size=3D2>I have a capsule that i want to balance =
on one end.=20
As the capsule topples from outside forces, say a shove in one =
direction, i grab=20
its new and slightly different orientation each frame. I'd like to get =
the=20
capsule to balance itself upright by applying some torque to fire it in =
the=20
right direction. The trouble is i can't work out which direction the =
torque=20
should be in.</FONT></DIV>
<DIV><FONT face=3DArial size=3D2></FONT> </DIV>
<DIV><FONT face=3DArial size=3D2>quaternions seem to be one way to do =
this with=20
slerping, but i don't want to violate the physical model. Perhaps there =
is a way=20
of getting the difference between two quarternions. Or maybe this =
is=20
possible with rotation matrices but i'm not sure how. My maths isn't up =
to=20
it.</FONT></DIV>
<DIV><FONT face=3DArial size=3D2></FONT> </DIV>
<DIV><FONT face=3DArial size=3D2>Anyone?</FONT></DIV>
<DIV><FONT face=3DArial size=3D2></FONT> </DIV>
<DIV><FONT face=3DArial size=3D2>Any help much appreciated,</FONT></DIV>
<DIV><FONT face=3DArial size=3D2>thanks for reading,</FONT></DIV>
<DIV><FONT face=3DArial size=3D2>Stephen.</FONT></DIV></BODY></HTML>
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