[ODE] Robot simulation with ODE

[Ken M]

If you check out the ODE CVS tree, you'll find a nice integration between
ODE and Opcode 1.1 from Erwin Van Dries thus I would suggest using Opcode
1.1

Viewing the polyhedra would be your only implementation need at that point.


Ken
----- Original Message -----
From: "Francisco Jesús Martínez Serrano" <franjesus@yahoo.com>
To: <ode@q12.org>
Sent: Wednesday, February 20, 2002 3:13 PM
Subject: [ODE] Robot simulation with ODE


> Greetings,
>
> I'm trying to implement a robotics simulator (there's no code yet). And
> ODE is one of the possibilities for doing the dynamics. The drawstuff
> part of ODE could be used for the graphics. However, I believe there are
> some issues missing from ODE that I would need to work on my own (code
> would be contributed to ODE if Russ likes it).
>
>   -Polyhedra representation in the drawstuff part. This shoudn't be a
>    problem.
>
>   -Polyhedra collision functions (which library is better? SOLID,
>    V-COLLIDE, SWIFT++ etc don't give penetration depths, I believe)
>
>   -Another integrator since (as I read in the manual), ODE's one is not
>    very accurate.
>
>   -Of course, a specification for the robot data (geometry, mass,
>    inertia, joints, etc)
>
> Anyway, maybe ODE is not my best choice and I should try some other
> library like DynaMechs which, I believe, already handles poliedra pretty
> well (the collision stuff remains to be done).
>
> By the way, I apologize for the mistakes I surely made.
>
> Any help, suggestion or info (about what is done or what could be done)
> would be apreciated.
>
> Thank you.
>
> --
> http://obelix.umh.es/web/franjesus/
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