I am working on something for a game. I need to calculate the angular velocity, however in my situation I only have access to the previous rotation matrix and the current rotation matrix (and some other variables like dt or age of the object).
My angular velocity is hereby constant between t0 and t1.
The normal formula for the angular velocity
W(t) = dR(t)/dt * R(t)^-1 can't be used here, since I have discrete values. Is there a possibility to calculate the angular velocity between timestep t0 and t1 with the given R0 and R1 rotation matrix of an object?
I am not very advanced with matrix math, so please go easy on me.