[ODE] how to count angular velocity...

[erwin@erwincoumans.com]

There are several ways to derive linear and angular velocity from to world 
transforms and a timestep/deltatime. You can see the implementation I use 
here (just replace the math library with your favorite one) 

http://www.continuousphysics.com/Bullet/BulletFull/btTransformUtil_8h-source 
.html#l00108
Erwin 

 

Krystian Ligenza writes: 

> Hi, 
> 
> is't probably very easy question, but I have gave up :(
> I have got dBody in 2 time steps. I know it's rotation matrix in both time
> step (t and t+1), and need to count body angular velocity in t+1. I have
> tried do it in this way: 
> 
> R(t+1) = R(t)*R(transformation), so 
> 
> R(transformation) = R(t)-1 * R(t+1), after this I have converted
> R(trasnformation) to euler rotation vector, and used it like this: 
> 
> dBodySetAngularVel(body, vEx/timeStep, vEy/timeStep, vEz/timeStep); 
> 
> Legend:
> R(t) -> rotation matrix in first time step
> R(t)-1 -> inverse matrix R(t)
> R(t+1) -> rotation matrix in second time step
> vEx/vEy/vEz -> euler rotation x/y/z 
> 
> but it don't behave good :( Can somebody help me? 
> 
> Thanks
> Krystian 
> 
> 
> _______________________________________________
> ODE mailing list
> ODE at q12.org
> http://q12.org/mailman/listinfo/ode