[ODE] FW: Quick dQuaternion question

justinleung@imagi.com.hk justinleung at imagi.com.hk
Sun Jun 4 07:33:47 MST 2006

>From my expriement to integrate quaternion in ODE to DirectX, beside the order
of W X Y Z, i need to invert the sign of X Y Z (i.e. -X, -Y and -Z) for correct
result. Is it normal?


> Just forwarding to the list for everyone's reference.  Thanks Tomek.
> -----Original Message-----
> From: tomek [mailto:klinikk at o2.pl] 
> Sent: Friday, June 02, 2006 6:17 PM
> To: Andrew Arcilla
> Subject: Re: [ODE] Quick dQuaternion question
> Hello Andrew,
> > Hello,
> > I just want some confirmation about the dQuaternion object.  So, could
> > someone please tell me how ODE interprets the order of the dQuaternion
> > array?  In other words, does dQuaternion[0] refer to W or X?
> >From ODE Manual:
> "9.1. Rotation functions
> Rigid body orientations are represented with quaternions. A quaternion
> is four numbers [cos( theta /2),sin( theta /2)*u] where theta is a
> rotation angle and u is a unit length rotation axis."
> The order is [W,X,Y,Z].
> -- 
> Tomek
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