[ODE] Controlling angular velocity

[Jon Watte]

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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