[SOLVED] Angular velocity to orientation

[Linus]

I'm trying to calculate how the angular velocity of an object will affect it's orientation.
The predicted orientation I get doesn't look anything like the rotation I get with Unigine physics.

I'm using this code to calculate the new orientation:

quat rotation = object.getRotation();
rotation *= quat(normalize(angularVelocity), length(angularVelocity) * ifps);
object.setRotation(rotation);

Can anybody point me out why this produces the wrong results?

 

[frustum]

This is an engine code which calculates the rigid body orientation:

 

quat q;

q.x = angular_velocity.x * ifps;

q.y = angular_velocity.x * ifps;

q.z = angular_velocity.x * ifps;

q.w = 0.0f;
 

q = q * orientation;
 

orientation.x += q.x * 0.5f;

orientation.y += q.y * 0.5f;

orientation.z += q.z * 0.5f;

orientation.w += q.w * 0.5f;
 

orientation.normalize();
 

[Linus]

Thanks a lot, I reproduced the code in UnigineScript and it all works fine now. :)