[ODE] A 'real' demo of ODE

[Colin Reed]

> interesting. does the "racedemo" use ODE as well? or just the
> "ODEdemo".

No, only ODEdemo uses ODE hence the naming :-) RaceDemo is using a 'home
grown' rigid body system, is simulated at 200hz and the dynamics takes
about .3ms CPU :-)

> why not just 5 bodies (chassis and 4 wheels) and use the simple
> suspension joint? or are there some detailed suspension effects that
> you are trying to reproduce?

Because the wheel does not travel in a simple straight line or arc, if
the top a-arm is shorter than the bottom then you also have dynamic
camber to deal with .... Yes the camber and caster would be calced with
IK etc however if there is a system that can automatically calculate all
of the subtle effect why not use that ..

> the first thing to do is specify the suspension constraint as a
> parameterized kinematic relationship between the chassis and wheel
> bodies. can you give me equations?

Erm, no, maybe Gregor could step in and provide some enlightenment ...


Colin