how to calc force for rotation match

0 votes

refer article from Hairibar.Ragdoll page 18.

here is my code

k=angular_stiffness/(delta*delta)
k=get_inverse_inertia_tensor()*k
d=?
move_to=rotation_to(basis,target_transf.basis) #move_to is quaternion
target_vel=rotation_to(target_pre_transf.basis,target_transf.basis)/delta
var vel_diff=target_vel-get_angular_velocity()
force=k*move_to+d*vel_diff
apply_torque(force)

my confuse is how to use inverseinertiatensor. and how to calc k,d ?

Godot version master
in Engine by (36 points)
edited by

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