FA-87162 / Physics integrator stability / Member archive

World angular velocity is applied on the body side of the product · case 02

Spinning bodies precess about the wrong axis once they are tilted.

Member previewVariant 2 · 3 implementations · 8 checks per implementation

Case contract

solve(q, omega, dt, steps): orientation quaternion [w,x,y,z], world-frame angular velocity omega. Each step q += 0.5*dt*(0,omega) (x) q (Hamilton product, omega on the left), then renormalize to unit length. Return q with w>=0 (negate all components otherwise), rounded to 6.

Why this case matters

Game and robotics physics loops depend on integrator update order, step control and stabilization terms; a wrong decision point turns a stable simulation into drifting or exploding motion.

One recorded failure

Sample boundary fixture

This sample comes from the broken implementation of a controlled reproducer.

Boundary fixture	Actual	Expected	Outcome
case 0	`[0.287249, 0.445947, -0.274886, -0.801908]`	`[0.287249, 0.223901, -0.5265, -0.768215]`	Failed

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This record includes three runnable implementations, regression fixtures, execution results, and source hashes.

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