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# Vexal

Member Since 28 Sep 2007
Offline Last Active Sep 26 2016 01:28 PM

### In Topic: Question about Jacobian in Joint Constraint formula

22 September 2016 - 09:09 PM

What would the Jacobian be for the case of C = pa - pb? I calculated J = [-1, -ra^1, 1, rb^1​] where 1 is the vector <1, 1, 1>, ra and rb are the lever arms, and ^ is cross product, but it doesn't seem to be right as it doesn't work at all. Does solving for a constraint with 3 values instead of 1 change the way it works? Do I have to solve the three coordinates separately as three separate constraints?

I also tried [-1 -ra 1 rb] and it didn't work either.

### In Topic: Arbitrary thruster burn solving

08 March 2015 - 02:13 PM

In case anyone is interested, I solved this problem.  I use linear programming to optimize for the minimum sum of the absolute values of the difference between "attained force / torque this frame (per dimension)", and "required force / toque this frame", where required force this frame is the force required to get the ship to a set target velocity / rotational velocity.  The variables are the percentage of each thruster; the coefficients are the force and torque the thruster has in each dimension.  The thrusters are constrained between 0 and 1.

This page has a really great explanation on how to minimize absolute value even though it itself is not linear: http://lpsolve.sourceforge.net/5.5/absolute.htm

Compiling LPSolve library with VC++14 worked fine.

If anyone has questions about the details of this feel free to ask.

### In Topic: I made a guide on how to mod any toaster to control PC games in 3 steps.

11 January 2015 - 08:10 PM

I could only come up with a pseudo-random game title.  But you're right, the domain for my reading game, Facebook, is already taken.

### In Topic: I made a guide on how to mod any toaster to control PC games in 3 steps.

11 January 2015 - 07:48 PM

The toast functions as an organic energy source so you don't have to plug it into the wall.

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