Search found 3 matches

by pwouik
Tue Feb 23, 2021 9:06 pm
Forum: General Bullet Physics Support and Feedback
Topic: rotation format in bullet physics
Replies: 5
Views: 5782

Re: rotation format in bullet physics

so if I understand well,"adding" angular velocities is commutative,in contrary to rotations,and we can use for that a vector collinear to the axis of the rotation,with the norm the velocity in radians(as i understand in the code) ok,I just found that:https://en.wikipedia.org/wiki/Angular_v...
by pwouik
Tue Feb 23, 2021 6:03 pm
Forum: General Bullet Physics Support and Feedback
Topic: rotation format in bullet physics
Replies: 5
Views: 5782

Re: rotation format in bullet physics

in btRigidBody.h,angles seem to be stored in a btVector3: btVector3 m_linearVelocity; btVector3 m_angularVelocity; also in this function: void applyTorqueImpulse(const btVector3& torque) { m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; #if defined(BT_CLAMP_VELOCITY_TO) ...
by pwouik
Tue Feb 23, 2021 2:59 pm
Forum: General Bullet Physics Support and Feedback
Topic: rotation format in bullet physics
Replies: 5
Views: 5782

rotation format in bullet physics

Hello, searching in src/BulletDynamics/Dynamics/btRigidBody.cpp, it seems that bullet use a 3D vector for rotation, representing the axis of rotation and the angle with the norm.It seems very practical because it's directly given by a cross product when applying an impulse ,and we can add them to co...