[ODE] FW: Quick dQuaternion question

[justinleung@imagi.com.hk]

>From my expriement to integrate quaternion in ODE to DirectX, beside the order
of W X Y Z, i need to invert the sign of X Y Z (i.e. -X, -Y and -Z) for correct
result. Is it normal?

Justin



> Just forwarding to the list for everyone's reference.  Thanks Tomek.
> 
> -----Original Message-----
> From: tomek [mailto:klinikk at o2.pl] 
> Sent: Friday, June 02, 2006 6:17 PM
> To: Andrew Arcilla
> Subject: Re: [ODE] Quick dQuaternion question
> 
> Hello Andrew,
> 
> > Hello,
> 
> > I just want some confirmation about the dQuaternion object.  So, could
> > someone please tell me how ODE interprets the order of the dQuaternion
> > array?  In other words, does dQuaternion[0] refer to W or X?
> 
> >From ODE Manual:
> 
> "9.1. Rotation functions
> Rigid body orientations are represented with quaternions. A quaternion
> is four numbers [cos( theta /2),sin( theta /2)*u] where theta is a
> rotation angle and u is a unit length rotation axis."
> 
> The order is [W,X,Y,Z].
> 
> -- 
> Tomek
> 
> 
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> 




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