[ODE] Angular Velocity Math

Erin Catto erincatto at sbcglobal.net
Wed Mar 30 22:21:41 MST 2005

Given rotation matrices R1 and R2, let

R2 = R*R1

where R is the rotation between them.


R = R2*R1'

Now convert R to axis-angle form (via quaternion if you like). Divide the
angle by your time step to get the angular velocity.

You can perform a similar operation starting with quaternions.


-----Original Message-----
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org] On Behalf Of Eric
Sent: Tuesday, March 29, 2005 10:44 PM
To: ode at q12.org
Subject: [ODE] Angular Velocity Math

Anyone know offhand how to find the necessary angular velocity vector 
which will transform one given rotation into another?  Or at least 
where I'd look...
Thanks in advance

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