Hi there, (I hope this post is in the right forum)(adsbygoogle = window.adsbygoogle || []).push({});

I'm trying to integrate a 3x3 orientation matrix using a vector representing rotational velocity (in 3d)

This is the formula i'm using:

newOrientation = orientation + (dt)(~w)(orientation)

where w is the vector rotational velocity, and the tilde operator creates a “skew-symmetric” matrix out of w.

The problem is, I don't see how this could possibly produce a legitimate orientation matrix. I'm using column-major matricies, so each column of an orientation matrix should contain a normalized vector, right?

I understand that over time, error will creep into things, and the result orientation matrix will begin to be *not quite* orthogonal, and not quite normalized, but what it seems to be producing for me is an orientation matrix containing vectors that arn't REMOTELY normalized.

because of this, when I try to transform a 3d object with it, the object stretches, and essentially tears itself apart.

Am I screwing this up some how? Any help is EXTREMELY appreciated.

**Physics Forums | Science Articles, Homework Help, Discussion**

Join Physics Forums Today!

The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

# Integrating a 3x3 orientation matrix

**Physics Forums | Science Articles, Homework Help, Discussion**