[ODE] Control my spaceships

Michael Molkenthin molle at michael-molkenthin.de
Mon Jul 17 03:40:08 MST 2006

to follow-up my own post:

in quickstep.cpp i've found the answers to my question. I have to apply the
Inertia-Matrix to the intended Rotation-Angles:

    dMass l_dMass;
    dReal l_dNewTorque[3];

    dBodyGetMass(bodyid, &l_dMass);

    dMULTIPLY0_331 (l_dNewTorque, l_dMass.I, {dVector3 with angles from my Control-AI});

    dBodyAddRelTorque( m_dBodyID,


On Fri, 14 Jul 2006, Michael Molkenthin wrote:

> Date: Fri, 14 Jul 2006 11:51:37 +0200 (CEST)
> From: Michael Molkenthin <molle at michael-molkenthin.de>
> To: ode at q12.org
> Subject: [ODE] Control my spaceships
> Dear ODE-Community,
> in the past i have controlled the wings of my spaceships by setting
> linear-velocity and rotationmatrices directly. Currently with ODE i am
> trying to re-implement the mousecontrol for my own flyer and
> "bot"-control for the others.
> To control the flyer's wings to the needed direction i am using
> dBodyAddRelTorque(). How could i calculate/scale the Torque accurately to
> rotate and stabilize the wings considering the various masses and densities of my
> spaceships?  Where could i find the formula in the source to predict the
> effectiveness of an applied Torque, it would have in the next simulation
> step?
> best,
> Michael
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