[ODE] Controlling angular velocity

Jon Watte hplus-ode at mindcontrol.org
Mon Mar 15 10:39:08 MST 2004


Is this what you're looking for?

Get the orientation of both bodies.
Get the (normalized) "front" vectors of both bodies (f1 and f2).
The angular difference in the bodies is acos(||f1 cross f2||) through simple algebra.
The axis of rotation for this difference is normalize(f1 cross f2).

Cheers,

			/ h+


-----Original Message-----
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org]On Behalf Of luca
regini
Sent: Monday, March 15, 2004 9:15 AM
To: ode at q12.org
Subject: [ODE] Controlling angular velocity 


I need to control the angular velocity of two bodies as a function of the
desidered angular displacement:

desiredVel  = (targetAngle-currentAngle)*K

>From the documentation i see that the AMotor permits to set the desidered
angular velocity but there isn't an function to get the angular
displacemente between the 2 bodies.
What should i do?

Greets
Luca

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