linux-kernel - Re: FF layer restrictions [Was: [PATCH 1/1] Input: add sensable phantom driver]

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Date:	Thu, 15 Mar 2007 22:06:54 +0100
From:	"STenyaK (Bruno González)" <stenyak@...il.com>
To:	"johann deneux" <johann.deneux@...il.com>
Cc:	"Dmitry Torokhov" <dmitry.torokhov@...il.com>,
	"Anssi Hannula" <anssi.hannula@...il.com>,
	"Jiri Slaby" <jirislaby@...il.com>,
	"Linux kernel mailing list" <linux-kernel@...r.kernel.org>,
	linux-input@...ey.karlin.mff.cuni.cz
Subject: Re: FF layer restrictions [Was: [PATCH 1/1] Input: add sensable phantom driver]

On 3/15/07, johann deneux <johann.deneux@...il.com> wrote:
> On 3/14/07, STenyaK (Bruno González) <stenyak@...il.com> wrote:
> > Ideally, afaik we should use:
> > -3 values for translation force (linear force): x,y,z components of
> > the force vector.
> > -4 values for rotation force (torque): x,y,z,w components of the
> > quaternion. You can also use euler angles (and i think there are
> > another one or two notations), which is just 3 values, but i'm not
> > sure it will be a correct decision (due to the gimbal lock problem,
> > which may or may not be present in ff devices, dunno).
>
> Same remark here. A torque is a 3-dimensional thing, just like a
> force. What for do you need 4 components?

Simplifying, 3 values defining axis of rotation, 1 defining module of
torque.. As i said, i'm not really sure we really need the 4; you most
probably are right.

-- 
Saludos,
     STenyaK

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