Rigid body movement of PhysX

[Linear velocity and angular velocity]

The speed of the pxrigidbody is composed of linear velocity and angular velocity, which can be set by Setlinearvelocity and Setangularvelocity respectively. It is important to note that the angular velocity of a rigid body is always based on the coordinate system with the centroid of the rigid body as the origin.

Assuming that the starting and ending points of a rigid body are pose1 and pose2, and the motion time is T, the velocity is calculated as follows:

Linear speed LV = (POSE2.P-POSE1.P)/t

Transform four-tuple d = pose2.q * pose1.q.getconjugate-axis pair (angle, axis)

Angular velocity vector av = axis * angle/t

Angular velocity is the meaning of a rigid body orbiting axis axis, which rotates at angle/t speed.

Rigid body movement of PhysX