[ODE] Arbitrarily positioning bodies connected by joints

Ignacio García Fernández ignacio.garcia at uv.es
Thu Jul 26 00:40:56 MST 2007

El Thursday 26 July 2007 05:08:05 Beau Albiston escribió:
> BTW: You just need to move the joint anchor with the bodies and geoms.  I
> think some joints will also require that you set the axes parameters again.

You are right when you say that detachment of bodies is not necessary. Just an 
anchor reset.

But if you move two bodies that are linked, and the joint does not match 
exactly at that moment, then just setting the anchor again will introduce a 
drift in the joints after successive translations. That's the reason for 
previously setting the bodies in a way that matches the joints, and then 
reset the anchor.

May the source be with you                                     
Ignacio García Fernández                  Instituto de Robótica
ignacio.garcia_at_uv.es                 Universidad de Valencia
http://robotica.uv.es/~ignacio/                Tlf. 96 354 3671

More information about the ODE mailing list