[ODE] Balancing a bike
james at whereintheworldisrusty.com
Mon Jan 8 11:50:32 MST 2007
I'm in the middle of trying to implement the dynamics required for a
motorcycle and currently, am working on ways to balance the bike also
cause it to lean into a turn.
To get a quick and dirty version going, I just applied a fixed torque
value multiplied by the inner-product between the up-vector of the
body's rotation and a unit y-vector. To avoid unwanted oscillations (as
this was essentially a spring) I dampened the torque by a force
multiplied by the angular velocity around the body's at-vector.
While this does work, it's rather limited. What I really need is to
specify a desired "up-vector" for the body, and use a joint motor to
control the torque required to orient the body correctly. So my question
is; is there an existing joint in ODE that will allow me to constrain
ONLY THE ROTATION around one-axis of a single body?
If not, how easy would it be to implement a joint in ODE that does
this? Is there anybody who can give me some hints on this?
thanks in advance!
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