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Balancing a hovercraft using separate engines
Hi, I've got a vehicle which gets desired thrust (a Vector3 representing a force that needs to be applied) and torque (also Vector3 representing desired rotation around an axis) through an interface. It also has a number of engines (4 for simplicity) for which it knows their relative positions (Vector3s from the vehicles rigidbodys center of mass to the engines force application point) and can set force to be applied (any direction for now).
From all that I can calculate the force vectors to produce the desired torque, and combining that with -verticalVelocity of the vehicle, I would get a stable vehicle able to move around. But it seems like I missed something, or don' t understand the math completely. I'm comfortable with vectors and vector operations, enough to calculate a force vector to produce desired torque. Had anyone ever made anything like this? Is so, any help'll be much appreciated.
Thanks
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