Game Development Reference
In-Depth Information
The indicator is easy to define here:
c lock = q v =
P
q = P lock q =0 ,
(9.2)
where
P
= P lock is the projection operator
0100
0010
0001
P
=
so that
P
q = q v .
There is still an ambiguity since the constraint is satisfied by both
q .Butthat
is of no consequence since both cases correspond to a unit rotation. Remember
that quaternions cover the rotation group twice. The lock constraint is thus a
simple linear projection of the relative quaternion. That will hold for all the other
constraints.
The hinge constraint requires that the original and transformed frame share a
common axis. This is set to the axis z arbitrarily, and thus the allowed rotations
have the form
±
q v =[0 , 0 , sin( φ/ 2)] T ,
q s =cos( φ/ 2)
and
(9.3)
which gives the two equations we want:
c hinge = x · q v
= x T
y T
q = P hinge q = 0
,
P
(9.4)
y · q v
0
where
P hinge = x T
y T
= 0100
0010
P
is the hinge projection operator. We'll see in Section 9.8 how to define this for
axes other than z .
And now comes the CV joint. The kinematic constraint we want to create here
is such that the rotational motion along the axis n (1) of an object produces an
identical rotation about the axis n (2) of another. That is precisely the relationship
between the plate of a turntable and the disc sitting on it, although these two
objects share the same longitudinal plane. But the idea is the same: we want a
driver that produces a constant rotational velocity in a secondary body about some
axis fixed in that body.
Let's now visualize a perfect CV joint using two pens with longitudinal axes
n (1) and n (2) , respectively, each with a longitudinal reference line drawn on the
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