[ODE] Read out the contact forces?
kxubb at yahoo.com
Thu Jul 5 08:17:01 MST 2007
For the velocity of the contact point, we used
here RADIUS is the radius of wheel.
>From car kinematics, all the contact point velocity
should be zeroes or very close to zeroes if the wheel
is pure rolling on the ground. But the read-out from
dBodyGetRelPointVel gave us non-zero numbers.
And we set the contact[i].surface.slip1/2 to a very
small number (1E-12), which should gives us almost
non-slip. but the read-out non-zero numbers says we
still got slip velocity. what happened?
--- "Jon Watte (ODE)" <hplus-ode at mindcontrol.org>
> This is a FAQ, and it is answered in the manual. The
> forces are zero,
> unless you are inside the execution of your step
> However, if you can get the velocity of the point of
> the body that
> touches the other geometry, and you know your mu,
> you can calculate some
> useful bounds on the friction force.
> / h+
> Ke wrote:
> > Hi,
> > When we simulate a 3-wheel car on ground,we need
> > read out the contact/friction forces between
> > and the ground. But when I used
> > dBodyGetForce(Wheel_body_ID), what I got is
> > all the time. Am I wrong? or any other way to do
> > Thanks.
> > Ke
> > Need a vacation? Get great deals
> > to amazing places on Yahoo! Travel.
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