Recent content by Kludgy

Velocity verlet does look interesting! Looking at that now..

Yeah I read that paper on particle based simulation. I do like the advantage of the particle part of that, not having any explicit angular state at all. I wonder how it would behave with my angular control laws? Verlet integration in general would let me drop the first order state...

Well I am using a quaternion to describe the orientation. Quaternions or not, I get the same drift problem. Now that you mention that I think I'm wrong and it's not matrix conditioning but just the poor naive integration involved. I noticed yesterday that using smaller simulation steps...

I couldn't find a forum section on numerical analysis, so I'm writing this here. I'm on the lookout for simple matrix rotation/multiplication methods that can overcome the precision problems associated with poorly conditioned matrices. In my case I'm trying to simulate the rotational...

Wow, well in the case of integers it is a simpler problem. Extending floating point datatypes is more complicated. It is not so hard to create a larger integer class as long as you follow the same bitwise rules than intrinsic integer types follow. And the basic arithmetic operators can be...

Ok correction again I'm wrapping this up. :) It's not the orthonormalize, but if I subdivide the simulation step 500 times everything is much more stable. Thanks for the help! I'm off to look for better integration approaches...

Yea it's a numerical bug coming from orthonormalize since the spin always converges on the same world space axis.

Ok I think I got it, using an instantaneous world space inertia tensor to calculate the angular velocity at the beginning of each step. Now I can get a spin and tumble. My new problem is that there is a strange energy transfer in the simulation. Maybe it's normal, but physics is not my...

Do you mean like supplying a non-diagonal inertia tensor matrix to the calculation?

Hi, I'm stuck with the simulation of something that is very intuitive in reality. It's easy to produce a combined cartwheeling and spinning motion with a screwdriver by flicking the wrist at the right time. But what combination of angular parameters describes the evolution of this...