[ODE] Naive Pitch/Roll/Yaw rotation questions

[Anders Olofsson]

Let the physics take care of rotation, dont call dBodySetRotation more than to
initialize your bodies. Roughly speaking, if you for example want to roll your
aircraft add an "up" force on one wing and a "down" force on the other 
wing. Thats
what I do anyway.

--Anders Olofsson

At 17:25 2005-03-15, john rieffel wrote:
>I'm comfortable using dBodySetRotation and dRFromAxisAndAngle in order
>to rotate bodies in the global reference frame, but I'm stumped about
>how to rotate objects relative to their own frame of reference.  I'm
>sure that it's a simple matter of quaternion arithmetic, but it eludes
>me.(kicking myself for never having taken any aero/astro classes, or
>graphics classes for that matter).
>
>Imagine, for instance that my body is an airplane - I'd like it be
>able to get it to pitch/yaw/roll.  To make things even easier, I only
>ever want it to pitch/roll/yaw over a 90 degree angle.   For instance,
>if the object's current roll axis is the "z" axis, and its yaw axis is
>the "y" axis, then I want a +90 degree yaw to place its roll axis on
>the x axis.
>
>thanks,
>jr
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