[ODE] Acceleration on angular velocity

[Ivan Bolcina]

Hi! Me again.
Function wont compile.
What to do?

bye,ivan

> void dBodyAngAccelFromTorqu(const dBodyID body, dReal* ang_accel, const
dReal* torque){
>       dMass m;
>       dMatrix3 invI;
>       dBodyGetMass(body,&m);
>       dInvertPDMatrix (m.I, invI, 3);
>       dMULTIPLY1_333(ang_accel,invI, torque);
>       }
----- Original Message -----
From: "slipch" <slipch@gsc-game.kiev.ua>
To: <ODE@q12.org>
Sent: Tuesday, January 21, 2003 12:02 PM
Subject: Re: [ODE] Acceleration on angular velocity


> Hello Ivan,
>
> Monday, January 20, 2003, 9:16:13 PM, you wrote:
>
> IB> HI, I need help.
>
> IB> I have dBody. I want to apply torque to it. This torque will increase
angular velocity of this body - body will be rotating faster and faster.
What will this acceleration be? Is there a way to
> IB> ask ode, what acceleration of angular velocity will some torque
produce? Right now, I measure acceleration :-(
>
> IB> thanx,ivan
>
> M=I*b;  =>   b=I'*M;
>
> Where b - acceleration of angular velocity (vector),
>       M - accumulative torque applied to the body (vector),
>       I - inertia tensor of the body (matrix 3x3 from dMass parameter)
>           of the body)
>       I'- inverse matrix I
>
> It must looks something like:
>
> void dBodyAngAccelFromTorqu(const dBodyID body, dReal* ang_accel, const
dReal* torque){
>       dMass m;
>       dMatrix3 invI;
>       dBodyGetMass(body,&m);
>       dInvertPDMatrix (m.I, invI, 3);
>       dMULTIPLY1_333(ang_accel,invI, torque);
>       }
>
> ,where torque is  accumulative torque.
>
> If there is no other torque applied and no contacts you mast get right
> angular acceleration.
>
> --
> Best regards,
>  slipch                            mailto:slipch@gsc-game.kiev.ua
>
> _______________________________________________
> ODE mailing list
> ODE@q12.org
> http://q12.org/mailman/listinfo/ode