[ODE] how to count angular velocity...
erwin@erwincoumans.com
erwin at erwincoumans.com
Wed Nov 22 14:15:11 MST 2006
There are several ways to derive linear and angular velocity from to world
transforms and a timestep/deltatime. You can see the implementation I use
here (just replace the math library with your favorite one)
http://www.continuousphysics.com/Bullet/BulletFull/btTransformUtil_8h-source
.html#l00108
Erwin
Krystian Ligenza writes:
> Hi,
>
> is't probably very easy question, but I have gave up :(
> I have got dBody in 2 time steps. I know it's rotation matrix in both time
> step (t and t+1), and need to count body angular velocity in t+1. I have
> tried do it in this way:
>
> R(t+1) = R(t)*R(transformation), so
>
> R(transformation) = R(t)-1 * R(t+1), after this I have converted
> R(trasnformation) to euler rotation vector, and used it like this:
>
> dBodySetAngularVel(body, vEx/timeStep, vEy/timeStep, vEz/timeStep);
>
> Legend:
> R(t) -> rotation matrix in first time step
> R(t)-1 -> inverse matrix R(t)
> R(t+1) -> rotation matrix in second time step
> vEx/vEy/vEz -> euler rotation x/y/z
>
> but it don't behave good :( Can somebody help me?
>
> Thanks
> Krystian
>
>
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