Thank you guys for the answers.

First, I do not agree that the expression "angular_impulse = desired_euler - current_euler;" is wrong math. Because it seems to be working for half of the space. But since you are both emphasizing on this matter, I'm gonna drop it and focus on the quaternion: rotation_amount = desired_quaternion * current_quaternion^-1.

I made a youtube video of what is going wrong. Hopefully this would give you guys a better understanding of where the problem might come from. Here, I'm applying angular_impulse by just converting the quaternion that goes from current to desired to euler angles.




Also alvar, doing something on the quaternion itself might help, and it sounds interesting. I have also tried to do some stuff with it, but haven't got anything out of it. I haven't tried the log thing you mentioned yet. Would you please tell me how to get x,y,z for the impulse based on the rotation_amount quaternion and doing log?

Moreover, impulse or force/torque CAN be used to move from one position/rotation to the other. applyLinearForce is what I am using to change the position of the object while holding it. It is the same technique with current position and desired position, and applying linear impulse based on desired-current to get to the desired position. You can see in the video above that it works very smoothly for the position of the object. It's also working for the rotation but unfortunately only for half of the space.

Thanks again, and I appreciate your help

Thank you guys for the answers.

First, I do not agree that the expression "angular_impulse = desired_euler - current_euler;" is wrong math. Because it seems to be working for half of the space. But since you are both emphasizing on this matter, I'm gonna drop it and focus on the quaternion: rotation_amount = desired_quaternion * current_quaternion^-1.

I made a youtube video of what is going wrong. Hopefully this would give you guys a better understanding of where the problem might come from. Here, I'm applying angular_impulse by just converting the quaternion that goes from current to desired to euler angles.




Also alvar, doing something on the quaternion itself might help, and it sounds interesting. I have also tried to do some stuff with it, but haven't got anything out of it. I haven't tried the log thing you mentioned yet. Would you please tell me how to get x,y,z for the impulse based on the rotation_amount quaternion and doing log?

Moreover, impulse or force/torque CAN be used to move from one position/rotation to the other. applyLinearForce is what we are using to change the position of the object while holding it. You can see in the video above that it works very smoothly for position. It's also working for the rotation but unfortunately only for half of the space.

Thanks again, and I appreciate your help

Thank you guys for the answers.

First, I do not agree that the expression "angular_impulse = desired_euler - current_euler;" is wrong math. Because it seems to be working for half of the space. But since you are both emphasizing on this matter, I'm gonna drop it and focus on the quaternion: rotation_amount = desired_quaternion * current_quaternion^-1.

I made a youtube video of what is going wrong. Hopefully this would give you guys a better understanding of where the problem might come from. Here, I'm applying angular_impulse by just converting the quaternion that goes from current to desired to euler angles.

QwnWyWDx6OI


Also alvar, doing something on the quaternion itself might help, and it sounds interesting. I have also tried to do some stuff with it, but haven't got anything out of it. I haven't tried the log thing you mentioned yet. Would you please tell me how to get x,y,z for the impulse based on the rotation_amount quaternion and doing log?

Moreover, impulse or force/torque CAN be used to move from one position/rotation to the other. applyLinearForce is what we are using to change the position of the object while holding it. You can see in the video above that it works very smoothly for position. It's also working for the rotation but unfortunately only for half of the space.

Thanks again, and I appreciate your help

Thank you guys for the answers.

First, I do not agree that the expression "angular_impulse = desired_euler - current_euler;" is wrong math. Because it seems to be working for half of the space. But since you are both emphasizing on this matter, I'm gonna drop it and focus on the quaternion: rotation_amount = desired_quaternion * current_quaternion^-1.

I made a youtube video of what is going wrong. Hopefully this would give you guys a better understanding of where the problem might come from. Here, I'm applying angular_impulse by just converting the quaternion that goes from current to desired to euler angles.

[youtube]QwnWyWDx6OI[/youtube]


Also alvar, doing something on the quaternion itself might help, and it sounds interesting. I have also tried to do some stuff with it, but haven't got anything out of it. I haven't tried the log thing you mentioned yet. Would you please tell me how to get x,y,z for the impulse based on the rotation_amount quaternion and doing log?

Moreover, impulse or force/torque CAN be used to move from one position/rotation to the other. applyLinearForce is what we are using to change the position of the object while holding it. You can see in the video above that it works very smoothly for position. It's also working for the rotation but unfortunately only for half of the space.

Thanks again, and I appreciate your help

Thank you guys for the answers.

First, I do not agree that the expression "angular_impulse = desired_euler - current_euler;" is wrong math. Because it seems to be working for half of the space. But since you are both emphasizing on this matter, I'm gonna drop it and focus on the quaternion: rotation_amount = desired_quaternion * current_quaternion^-1.

I made a youtube video of what is going wrong. Hopefully this would give you guys a better understanding of where the problem might come from. Here, I'm applying angular_impulse by just converting the quaternion that goes from current to desired to euler angles.

QwnWyWDx6OI


Also alvar, doing something on the quaternion itself might help, and it sounds interesting. I have also tried to do some stuff with it, but haven't got anything out of it. I haven't tried the log thing you mentioned yet. Would you please tell me how to get x,y,z for the impulse based on the rotation_amount quaternion and doing log?

Moreover, impulse or force/torque CAN be used to move from one position/rotation to the other. applyLinearForce is what we are using to change the position of the object while holding it. You can see in the video above that it works very smoothly for position. It's also working for the rotation but unfortunately only for half of the space.

Thanks again, and I appreciate your help

Thank you guys for the answers.

First, I do not agree that the expression "angular_impulse = desired_euler - current_euler;" is wrong math. Because it seems to be working for half of the space. But since you are both emphasizing on this matter, I'm gonna drop it and focus on the quaternion: rotation_amount = desired_quaternion * current_quaternion^-1.

I made a youtube video of what is going wrong. Hopefully this would give you guys a better understanding of where the problem might come from. Here, I'm applying angular_impulse by just converting the quaternion that goes from current to desired to euler angles.

QwnWyWDx6OI&feature=youtu.be


Also alvar, doing something on the quaternion itself might help, and it sounds interesting. I have also tried to do some stuff with it, but haven't got anything out of it. I haven't tried the log thing you mentioned yet. Would you please tell me how to get x,y,z for the impulse based on the rotation_amount quaternion and doing log?

Moreover, impulse or force/torque CAN be used to move from one position/rotation to the other. applyLinearForce is what we are using to change the position of the object while holding it. You can see in the video above that it works very smoothly for position. It's also working for the rotation but unfortunately only for half of the space.

Thanks again, and I appreciate your help