[ODE] Naive Pitch/Roll/Yaw rotation questions

[Holger Urbanek]

Hm, it is even simplier: Take a look at the function:
void dBodyAddRelTorque(dBodyID, dReal fx, dReal fy, dReal fz);
http://www.ode.org/ode-latest-userguide.html#sec_6_3_0

Torque is the force, which makes your body turn around your body's
centre of mass.

On Tue, 15 Mar 2005 18:48:48 +0100, Anders Olofsson
<anders.olofsson at biologigrand.ac> wrote:
> 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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