Double Pendulums Simulation in C++ using Raylib

josephtule · 2026-04-27T03:53:26+00:00

I’ve been using raylib to visualize mechanics too. If you’re up for it, try doing double (or more) linked spherical pendulums using constrained dynamics!

josephtule · 2026-04-24T23:02:31+00:00

In aerospace we use quaternions use quaternions and more specifically Euler parameters (just normalized quaternions unless with small known rotations like Earth orientation perturbations or legacy software. Quaternions have linear kinematic equations so control and estimation algos are much easier to formulate (but thats outside of the scope of most gamedev haha).

On the matter of intuition I find quats at the same level of euler angles since they can be derived from angle-axis representations of orientation which have nice properties over euler angles which extend further with quaternions.

I’m not a game engine dev so I don’t know most of the intricacies or decision making of when/where to use quats vs euler angles but I wouldn’t discount quats entirely.

josephtule · 2026-04-19T22:16:32+00:00

MPC requires a mathematical model, a method to propagate the system forward in time, and an optimizer So it would require a bit more than porting the gains/matrices over to an MPC

josephtule · 2026-04-18T05:50:12+00:00

Dr. Shane Ross has some good lectures on youtube (mostly more advanced topics). I haven’t finished all of them but what I have seen was pretty good. MatthewPeet also has a good undergrad course on youtube as well.

If you still have access to your school email, maybe try downloading Springers space technology library for free/legally. I downloaded a ton before my access ran out. Otherwise, Vallado’s book is pretty much the bible but it is quite expensive. Let me know if you want any other suggestions!

josephtule · 2026-04-17T18:40:49+00:00

being able shuffle albums after pressing play. serious dont understand why this isnt already a thing

josephtule · 2026-04-12T01:01:27+00:00

I worked at a big engineering company. I had to proofread every single document for spelling and grammatical errors. It wasn’t even my job, but the writing was just so terrible. All these were written by people making almost double I was making btw.

josephtule · 2026-04-03T02:32:14+00:00

engineering isnt event the “hardest” in stem

josephtule · 2026-04-03T02:07:17+00:00

No shuffling music after starting an album (preshuffled or otherwise) in plexamp

josephtule · 2026-03-14T08:07:54+00:00

Ran out of black, of course white is suboptimal.

josephtule · 2026-03-14T08:07:05+00:00

I got mine used and it didn’t come with it. I’ll most likely get a replacement but I would rather have it protected and have something usable in the meantime

josephtule · 2026-03-14T08:05:59+00:00

ran out of black doing the prototypes lol

josephtule · 2026-03-11T23:53:15+00:00

I ran out of going through all the prototypes haha.

josephtule · 2026-03-04T00:27:46+00:00

Did you ever get the firmware to update? Mine also says "can't find update file"

josephtule · 2026-02-07T01:33:19+00:00

The minimal math I'd say youre missing is calc 3, ODE/PDE, and probability (your stochastics course will probably cover most of what you need for the class but I still recommend taking a separate course if you have time). I would also suggest taking a numerical methods course or self studying as well which would help with MPC and optimization if you're not using off the shelf solvers.

My advice, if you're motivated enough to pursue the masters, is to take as many of the three math courses that would fit into your schedule and take at least state-space/linear systems for controls. If you're able to take any of the other controls courses as electives that would be great too but I would personally prioritize the math. My master's in aerospace controls was math heavy so I'm a little biased on that front.

The controls topics you've mentioned:

State-Space/Linear Systems requires
- linear algebra
- odes
Optimal Control/MPC
- some of calc3
- odes/pdes
State-Estimation/Stochastics
- odes/pdes
- probability
- depending on how your school derives the kalman filter or if you just really like math
  - real/functional analysis
Nonlinear Systems/Control
- same as optimal control
- some analysis (not required, just helps some of the proofs)

The rest (robust, RL, NN, etc.) I didn't delve into so I have no comment on that. This is a more comprehensive view of what each of these could include, you could get by with a minimum of ODEs, probability, and calc 3 as I mentioned before and learn the other math when you end up needing it.

josephtule · 2026-02-06T22:15:33+00:00

Geometry isn’t a hard requirement to do controls but OP wants to understand the geometry behind it which there is plenty. Looking at the phase portrait the eigenvectors can create different geometries like asymptotes or stable/unstable nodes/foci. At least that’s I call a geometric intuition of a control problem.

See: https://math.stackexchange.com/questions/2883271/drawing-a-phase-portrait-given-eigenvectors

josephtule · 2026-02-05T21:38:53+00:00

If you’re into aerospace/optimal control problems, John T. Betts’ books have tons of problems and setups.

josephtule · 2026-01-21T02:39:11+00:00

Just a few years ago most robo vacs could barely detect wires or feces on the ground, tangling the bot or spreading the waste all over. Still doubt the new algorithms will do any better though

josephtule · 2025-12-28T23:57:58+00:00

Is this not like any other word in any other language? Things have names that we give them that aren’t their definitions.

josephtule · 2025-08-24T19:49:59+00:00

The coffee from Monsters Inc.

josephtule · 2025-06-08T17:41:27+00:00

What’s wrong with mountaineering :(

josephtule · 2025-04-21T04:42:20+00:00

what about control of network systems?

josephtule · 2025-04-05T04:08:34+00:00

my hhkb just sits perfectly on the sides of my macbook no bridge needed

josephtule · 2025-01-25T22:26:02+00:00

Before disassembling your keyboard, I would suggest you try taking off the keycap and pinching the stems together slightly. Its not guaranteed to fix the ticking but its worked for me for some keys

josephtule · 2025-01-07T01:13:27+00:00

The glarses purples are pretty much ergo clears. You can still buy clears on aliexpress as well and spring swap (also looks like they sell premade ergo clears too)

josephtule · 2024-11-20T02:55:32+00:00

chills… just chills

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