[ODE] Balancing act

[Mattias Fagerlund]

> > As the capsule topples from outside forces, say a shove in one
> > direction, i grab its new and slightly different orientation each
> > frame. I'd like to get the capsule to balance itself upright by
> > applying some torque to fire it in the right direction. The trouble
> is
> > i can't work out which direction the torque should be in.

Try looking up "pole balancing" in google, it's a very common ai 
benchmark. Very easy to solve with an NN or GP.

cheers,
m