[ODE] Setting Joint Positions

Bill Sellers wis at mac.com
Fri Jun 23 03:43:55 MST 2006

It might be nice to write some utility functions to do this since it  
is a bit of a chore (even for start positions rather than playback)  
if your data happen to be joint angles rather than absolute body  
positions. However you do have to be careful if you have closed  
chains since the chances are when you set the joint angles you are  
likely to end up with quite appreciable errors where the chain closes  
if you've done any rounding or the chain is long.


On 22 Jun 2006, at 18:13, Hampus wrote:

> No, there are no dJointSetXXXAngle functions afaik.
> Save/Restore of body positions and rotations should be pretty
> straight forward.
> Cheers,
> Hampus
> 22 jun 2006 kl. 22.46 skrev Andrew Maas:
>> As a clarification, I am trying to set the joint not to be at a
>> position in global space, but rather I want a particular joint to be
>> at X radians. Setting a joint to be at a certain number of radians
>> makes me not have to worry about what that means for the positions  
>> and
>> rotations of the bodies attached to the joint.
>> thanks for your help
>> -- 
>> Andrew Maas
>> Carnegie Mellon University
>> School of Computer Science
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