Game Development Reference

In-Depth Information

Output velocity at

φ
=5,driverat

ω
=
π

rads/sec.

Quaternion, CV

Dot product, Hooke

1

0
.
8

0
.
6

1

2

3

4

Time

Output velocity at

φ
=20,driverat

ω
=
π

rads/sec.

Quaternion, CV

Dot product, Hooke

1

0
.
8

0
.
6

1

2

3

4

Time

Figure 9.10.
These two graphs illustrate more precisely the ratio of the output angular

velocity to the driver for the quaternion (top) and the dot product (bottom) formulations.

The CV joint does follow at both
5
◦
and
20
◦
, but the Hooke joint shows large deviations.