Game Development Reference
In-Depth Information
Lock Stabilization
θ 0 =0 . 45
0
1
quat:
c
2
quat:
q 0
dot:
c
3
dot:
q 0
4
1
2
3
Time
Lock Stabilization
θ 0 =0 . 55
0
1
quat:
c
quat: q 0
dot:
2
c
3
dot:
q 0
4
1
2
3
Time
Figure 9.7. A lock joint simulated using either the quaternion (top) or the dot product
(bottom) formulation. Starting at nearly 90 from the vertical, both constraints relax to
the correct position, in which q s =1 . When the initial angle is slightly over 90 ,the
quaternion formulation finds its way back to the correct configuration, but the dot product
version goes the wrong way, stabilizing at the wrong zero of the indicator.
 
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