[shereez234]

Dear Foamers;


In solid body motion, rotating motion I am trying to create a coning motion of an aircraft.


There are three omegas ,

\omega_x, \omega_y, \omega_z

The rotation happens around X and Y axis with respect to corresponding omegas.


So far I what I have done :

 scalar t = time_.value();

    // Rotation around axis
    scalar angleX = omegaX_->integrate(0, t);
   scalar angleY = omegaY_->integrate(0, t);
   scalar angleZ =omegaZ_->integrate(0, t);

    quaternion R1(axisX_, angleX);
    quaternion R2(axisY_, angleY);
    quaternion R3(axisZ_, angleZ);


   quaternion R = (R1*R2*R3);
septernion TR(septernion(-origin_)*(R)*septernion(origin_));

I am still not getting pure conical motion. any insights please?