[ODE] Ball Joint Euler Angles?

Jon Watte (ODE) hplus-ode at mindcontrol.org
Thu Jun 15 07:34:51 MST 2006

Multiply the orientation of one of the bodies with the conjugate of the 
orientation of the other body. Then you get the relative rotation 
between the bodies. Convert this orientation to euler angles.


/ h+

Andrew Arcilla wrote:
> Hello,
> Let’s say I have two rigid segments connected by a ball joint in ODE. 
> If I’m not using AMotors, what would be the best way to calculate the 
> Euler angles of this ball joint? I presume it would somehow involve 
> using the quaternions of each of the two rigid segments, but I’m not 
> sure how. Any help would be appreciated. A short word description of 
> how to do this would be sufficient.
> Thanks,
> Andrew
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