[ODE] How is dQuaternion/dMatrix3 layed out?

[Jon Watte (ODE)]

If the box is resting on the ground, and starts jittering, then you need 
to do the following:

1) add angular and linear velocity dampening; typically on the order of 
-0.01 times the current velocity (search Wiki for code)
2) make sure you use a FIXED TIME STEP (again, search the Wiki)
3) enable auto-disabling of bodies, and crank up the tolerances a little bit

Cheers,

             / h+


Roland Plüss wrote:
> I tried now adding angular velocity to my test setup. Now this does not
> work at all. Although dBodyGetAngularVel tells me that there is no
> angular velocity ( in the case of a straight falling box with on initial
> angular velocity ), which is correct, I still get a box tossing and
> tumbling around. I tried first using the quaternion version but there
> things did not work too. Now how exactly is your system layed out so I
> can match mine to it?
>
> My Matrix looks like this internally ( World View style matrix with
> indices on the right side ):
> [ right.x | up.x | view.x | pos.x ] => [ 0, 1, 2, 3 ]
> [ right.y | up.y | view.y | pos.y ] => [ 4, 5, 6, 7 ]
> [ right.z | up.z | view.z | pos.z ] => [ 8, 9, 10, 11 ]
> [ 0       | 0    | 0      | 1     ] => [ 12, 13, 14, 15 ]
>
> And my Quaternion looks like this internally:
> [ x | y | z | w ] => [ 0, 1, 2, 3 ]
>
> How does the internal structure and meaning of a dMatrix3 or dQuaternion
> look like compared to this notation?
>
>   
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