[ODE] Understanding Rotation Matrix
ode at xcoyle.com
Tue Nov 23 18:32:44 MST 2004
I am new to ODE, and new to Matrices, and 3D
I have looked through the documentation, and I can't figure out the
layout of the rotation matrix.
> These functions set and get the position, rotation, linear and angular
> velocity of the body. After setting a group of bodies, the outcome of
> the simulation is undefined if the new configuration is inconsistent
> with the joints/constraints that are present. When getting, the
> returned values are pointers to internal data structures, so the
> vectors are valid until any changes are made to the rigid body system
> structure. Hmmm. dBodyGetRotation returns a 4x3 rotation matrix.
How is this rotation matrix laid out?
On the web, I find a rotation matrix looks like this
R11 R12 R13
R21 R22 R23
R31 R32 R33
where Row 1 is Right,
Row2 is Up
Row3 is Out.
Why is ODE returning a 4x3 matrix? And how is the array laid out??
More information about the ODE