[ODE] what is wrong with amotor joint?
bram at sara.nl
Tue Dec 5 07:36:10 MST 2006
Krystian Ligenza wrote:
> why posts regarding AMotor joint are left without answer? Please, if the
> problem of AMotor joint is not with it's implementation, but in bad
> understading of using it, then tell me, and I will be sure that it can
> work good. But if there is no way to make it work good I would like to
> know that and leave it.
amotors are usually used in combination with another joint.
E.g. a Hinge and AMotor on the same two bodies is very common.
Then just read the Hinge angle.
This is e.g. some sample code:
hinge = dJointCreateHinge(world, 0);
dJointAttach(hinge, hull_body, turret_body);
dJointSetHingeAnchor(hinge, initialpos-0.95, initialpos,initialpos+0.
dJointSetHingeParam(hinge, dParamLoStop, 0.00*M_PI);
dJointSetHingeParam(hinge, dParamHiStop, 0.50*M_PI);
dJointSetHingeParam(hinge, dParamCFM, 0.0005);
amotor = dJointCreateAMotor(world, 0);
dJointAttach(amotor, hull_body, turret_body);
dJointSetAMotorAxis(amotor, 0, 1, 0,1,0);
dJointSetAMotorParam(amotor, dParamVel, 0.0);
dJointSetAMotorParam(amotor, dParamFMax, 10000);
>> don't know what to do. I have set a ragdoll with only few joint that are
>> ball with AMotor to limit its rotation. Limit's don't work on
>> AMotor....there are no dJointGetAMotorAngleRate() function
>> implementation.... OK, I could live with that... But now it's looking that
>> dJointGetAMotorAngle() return strange angles. I have tried to setup
>> PD-controller to get my ragdoll to certain position and all joint (hinge
>> and universal) work ok, but for AMotor joint it simply don't work good.
>> What is with this joint?
>> ODE mailing list
>> ODE at q12.org
> ODE mailing list
> ODE at q12.org
Bram Stolk, VR Engineer SARA, Amsterdam. tel +31 20 592 3000
"Windows is a 32-bit extension to a 16-bit graphical shell for an 8-bit
operating system originally coded for a 4-bit microprocessor by a 2-bit
company that can't stand 1 bit of competition."
More information about the ODE