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Order of rotation ( Quaternion )

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Hi, I''m using angular velocity to change my orientation like this: m_orientation += 0.5f * dt * Quaternion( m_angularVelocity ) * m_orientation; m_orientation /= m_orientation.Magnitude(); But using this formula i have problems figuring out how to: 1. Specify the order in which i want it to rotate. I wan''t it to first rotate around the y-axis ( yaw ) and then around the x-axis ( pitch ). How can i do this? 2. Also, i''m getting some jerky movement when i''m using this formula and not as smooth as i want. dt is around 0.029 sec. How can i fix that ? Cheers,

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Guest Anonymous Poster
3d rotations are complicated.

Try reading these, they cover rotations in a lot of detail:

http://www.d6.com/users/checker/dynamics.htm
It has lots of good information on computer simulation of physics.

http://www-2.cs.cmu.edu/afs/cs/user/baraff/www/pbm/pbm.html
They use quaternions for rotation in some of the papers.

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