Adding Torque to a simple physics simulation

[EricMiddleton]

I am trying to simulate a single rectangular body but I am having issues with Torque. I have an angular velocity variable (AngVel) and I have my torque calculations (Torque = Vertice:cross(Impulse)) and I get the angular acceleration (AngAccel = Torque/Inertia). The problem is that, from what I have read, the angular acceleration is a vector with the direction as the axis of rotation and the magnitude is the angle, but my angular velocity is actually a euler angle. Please correct me if I am wrong in my understanding. I just need to convert the axis-angle into a regular euler angle but I can't find how to do that. Also, How do I determine how much of the implulse is added to the velocity and how much is added to the angular velocity? Thanks for any help you can provide.

 

[kuruman]

It looks like you are confusing and conflating various concepts.

The problem is that, from what I have read, the angular acceleration is a vector with the direction as the axis of rotation ...

That much is correct. The vector representing the angular acceleration is along the axis of rotation.

... and the magnitude is the angle ...

This is where you start diverging from what is the case. The magnitude of angular velocity is not an angle, it is the second derivative of an angle with respect to time.

... but my angular velocity is actually a euler angle.

An angular velocity is not an Euler angle. An angular velocity is the first derivative of an angle with respect to time. I suspect you have a question about a rotating rigid body about an axis that changes direction in which case the Euler equations of rigid body dynamics would come into play. I suspect that you don't know how to ask your question properly.

Also, How do I determine how much of the implulse is added to the velocity and how much is added to the angular velocity? Thanks for any help you can provide.

You conserve linear and angular momentum. If the body is initially at rest, and the body receives impulse $\vec J$ at position $\vec r$ from its center of mass, the initial linear momentum is $\vec P_i=\vec J$ and the initial angular momentum about the CM is $\vec L_i=\vec r \times \vec J$.