Rotation Parameterization for btMultiBodyJointMotor

kingchurch · Post by **kingchurch** » Wed Jan 14, 2015 10:19 pm

I have a question that how is the Featherstone ball socket joint's 3 DOF parameterized. More specifically when we setup a btMultiBodyJointMotor or btMultiBodyJointLimitConstraint to constrain the motion of the 3DOF of the Featherstone ball socket joint are the 3DOFs that are motorized or limited the Euler Angles of the ball joint's orientation ? Or are they just the x,y,z components of the quaternion representing the instantaneous orientation of the ball joint ?

Thanks!
Kc