[ODE] Arbitrarily positioning bodies connected by joints
albiston at cynergy.com
Fri Jul 27 12:40:47 MST 2007
From the ODE manual: "the anchor is specified in world coordinates."
If your body frame and world frame are aligned, then your statement is true.
dan miller wrote:
> I do this all the time, without resetting anchors. Why would that be
> necessary? It's relative to the bodies, not global coords (unless you're
> anchored to the world)
> --- Ignacio Garcï¿½a Fernï¿½ndez <ignacio.garcia at uv.es> wrote:
>> El Thursday 26 July 2007 05:08:05 Beau Albiston escribiï¿½:
>>> BTW: You just need to move the joint anchor with the bodies and geoms.
>>> think some joints will also require that you set the axes parameters
>> 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
>> 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 Garcï¿½a Fernï¿½ndez Instituto de Robï¿½tica
>> ignacio.garcia_at_uv.es Universidad de Valencia
>> http://robotica.uv.es/~ignacio/ Tlf. 96 354 3671
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>> ODE at ode.org
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