[ODE] Re: FMax and Vel doesnt wrok for me! Y?

Neelam C tina_vipul at yahoo.com
Tue Nov 2 10:29:39 MST 2004

Thank you Daniel.

> Looks alright to me, try testing just two bodies lying on the ground,
> contected
> with a hinge:

I will try with two bodies and see.

> PS: Don't generate contact joints for objects that are connected in the
> nearcallback, maybe that's the problem?

I am taking care of that in the " nearCallback function".
// if the body parts are connected then exit
if (b1 && b2 && dAreConnected (b1,b2)) return;
n = dCollide(o1,o2,N1, &contact[0].geom, sizeof(dContact));

Let me paste the initialization part of "leg"
// attach joints
kJoint.jointID = dJointCreateHinge(world,0);
dJointAttach(kJoint.jointID, upperLeg.body, lowerLeg.body);
const dReal *a1=dBodyGetPosition(lowerLeg.body);
dJointSetHingeAnchor(kJoint.jointID, a1[0], a1[1], a1[2] + 0.5 *
dJointSetHingeAxis(kJoint.jointID,1,0,0); // x-axis 
// a < b checked.
// setting the stop and motor parameters for the knee joint
dJointSetHingeParam(kJoint.jointID, dParamLoStop,       kJoint.getLowStop());
dJointSetHingeParam(kJoint.jointID, dParamHiStop,       kJoint.getHighStop());
dJointSetHingeParam(kJoint.jointID, dParamVel,          0.0);
dJointSetHingeParam(kJoint.jointID, dParamFMax,         maxForce); 
// very low value to start with
dJointSetHingeParam(kJoint.jointID, dParamBounce,       0.3);



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