Jump to content
  • Advertisement
Sign in to follow this  
BTF

Converting local torque to global ya/pitch/roll

This topic is 3692 days old which is more than the 365 day threshold we allow for new replies. Please post a new topic.

If you intended to correct an error in the post then please contact us.

Recommended Posts

Hi all, I'm trying to convert a Vector3 Torque, Matrix33 Inertia tensor, Quaternion orientation, and change in time to a change in angular velocity(W). The problem is that W is the yaw/pitch/roll around the world axes, but the Torque is around the Center of Mass. I think I need something along the lines of: dW = Torque x Inv_Inertia_Tensor * dT; W += TransformToWorld(dW); I could, of course, define W as relative to the current axes, but this would require changing it every time orientation changes. Any help is appreciated, and I'm open to totally new implementations if necessary. Thanks, BTF

Share this post


Link to post
Share on other sites
Advertisement
Your method looks correct.

Usually you keep an updated version of the world inertia matrix and specify torque in the world frame. Depending on your application, this may not be very "performant." If you're not calling 'appy torque' a lot, then there's no point in updating the matrix, just do the transformation when the object is 'torqued.'

Just my $0.02

Share this post


Link to post
Share on other sites
Sign in to follow this  

  • Advertisement
×

Important Information

By using GameDev.net, you agree to our community Guidelines, Terms of Use, and Privacy Policy.

We are the game development community.

Whether you are an indie, hobbyist, AAA developer, or just trying to learn, GameDev.net is the place for you to learn, share, and connect with the games industry. Learn more About Us or sign up!

Sign me up!