[ODE] Hinge angle convention

Jon Watte (ODE) hplus-ode at mindcontrol.org
Wed Jun 20 15:52:51 MST 2007

The handedness is the same as that of your coordinate system. If you 
assume that ODE is left-handed, all quantities will be left-handed. If 
you assume that ODE is right-handed, then all quantities will be 
right-handed. ODE just does math; it doesn't interpret the numbers in a 
reference frame.

Given that ODE is handedness neutral, the handedness then comes from 
your interpretation. It may just be that the interpretation is the angle 
from body 2 to body 1.


          / h+

Ross L. Hatton wrote:
> Hi all,
> Is there documentation on the handedness of the angle used by hinge 
> joints? I have a chain of bodies connected by hinge joints:

> By right-handed, I mean that if I take Body[i] as my reference with my 
> hinge axis as [0,0,1], then counter-clockwise rotations of Body[i+1] 
> with respect to Body[i] should be considered positive angles.

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