[ODE] (no subject)

Bill Sellers wis at mac.com
Mon Jan 8 12:19:21 MST 2007

I'm not quite sure but the floating hinge I posted to the list a few  
days ago basically constrains only the rotation about a single axis.  
I'm not sure how it will help you though but it will show you how to  
implement a new joint. I've not tested the angular motors but I  
imagine they will be fine since they are straight from the regular  


On 8 Jan 2007, at 18:50, James Steele wrote:

> 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!
> James
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