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google / brax

Massively parallel rigidbody physics simulation on accelerator hardware.
Apache License 2.0
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Quaternion order? #250

Closed namheegordonkim closed 1 year ago

namheegordonkim commented 1 year ago

https://github.com/google/brax/blob/b3e75f9f0a66c19a3d76f232218b5029f116f3dd/js/system.js#L317

Mostly FYI for those implementing their own renderers.

It seems that the quaternion coordinates used by Brax is in a different order than convention. Is there a good reason behind this?

btaba commented 1 year ago

Hi @namheegordonkim, yes the quat order in brax is w, x, y, z, so we do a little switcharoo to plug into THREE.js