Real-Time Physics Simulation Forum 2006-04-01T18:34:02+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/284 2006-04-01T18:34:02+00:00 2006-04-01T18:34:02+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=842#p842 <![CDATA[Inertial Confusion]]>
I have implemented a rigid body model using Baraff's paper. I have a case which is too confusing for me.

I have got two rigid body objects, there is no gravity, both are placed with 45 degrees roll to right. I apply a torque on Z axis. Object A with Ixx=Iyy=Izz=1 rotates nicely on its own Z axis.

The other object with Ixx=5, Iyy=1, Izz=1, starts like the other object but doesn't keep its rotation around its own Z axis and after some seconds it ends up turning about the world X axis.

I am not able to explain if this is an expected result or a problem in the implementation.

Any help is appreciated. Thanks.

P.S. My coord. sys is y forward, x on right, Z up.

MDE

Statistics: Posted by mderdem — Sat Apr 01, 2006 6:34 pm

]]>