[ODE] what is wrong with amotor joint?

Hampus Soderstrom hampus at sxp.se
Wed Dec 6 20:18:11 MST 2006

Hi Krystian,

Try lowering the range for your joint stops. Most important is to  
make axis 1 having a range less than Pi, which means you should make  
it even smaller since the joint might need some space for bouncyness.

There is a better explanation about that in the ODE user guide that  
you could check out (7.3.8 page 39).


On 07 Dec 2006, at 6:33 AM, Krystian Ligenza wrote:

> maybe with this two movies I could show my problem clearier:
> http://www.pjwstk.edu.pl/~s2562/ragdoll_noAdd.avi
> http://www.pjwstk.edu.pl/~s2562/ragdoll_addTorque.avi
> As I mentioned earlier, I wanted to add PS controller to my  
> radgoll, using
> well know equation:
> torque = Kp*(des - cur) - Kd*vel;
> For this tests, the Kd is set to 0. First movie shows a ragdoll  
> with PD
> controller applied only to hinge and universal joints (ball joint with
> AMotor joint are set for spine,chest and head). Everything looks  
> "ok". But
> when I add torque to AMotor joint, joints start to shake (second  
> movie) -
> were is the problem?
> Thanks
> Krystian
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