## why is setAngularVelocity done by Euler?

### why is setAngularVelocity done by Euler?

I just realized when I was trying to use setAngularVelocity that it took its input as a Yaw Pitch Roll vector (I thinks that what it corresponds to). I was just wondering why setAngularVelocity did not have an overload using a quaternion which would make sense in many cases?

- Erwin Coumans
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**Posts:**4073**Joined:**Sun Jun 26, 2005 6:43 pm**Location:**California, USA-
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### Re: why is setAngularVelocity done by Euler?

Angular velocity is different from orientation.

Orientation can be described by quaternion or Euler angles.

The components of the Angular velocity vector are the velocities along each principal axis. Velocities are not angles.

Orientation can be described by quaternion or Euler angles.

The components of the Angular velocity vector are the velocities along each principal axis. Velocities are not angles.