My google foo seems to be failing me on this one, so here goes.
I have a matrix that represents the rotation of an object, and another that represents the rotational velocity of the object for an object in 3d space for a simulation. I'm trying to figure out how to calculate the amount of change of rotation to apply. If I was only doing 1 render per frame then I could just multiple the velocity by the current rotation and it would be fine, but I'm rendering as fast as the machine can handle.
For translation, I can just scale the velocity vector and add that to the current one, I just can't seem to figure out how to do it for the rotational velocity (and acceleration when I get that far).
My understanding of mathematical notation for matrix maths is fairly limited, so simple terms would be great, pseudo code would be even better :)