[ODE] How do I code my own constraints ?
Gazza
gazza at shaw.ca
Fri Nov 1 17:10:02 2002
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Hi,
I'm trying to understand how to compute the constraints matrix for a particular constraint.
I'm of the understanding that a 'contact' constraint would remove a DOF along the contact normal, thus requiring 1 value. When solved, the force/impulse is applied along the normal. For a ball joint, 3 DOF's are removed - x,y,z translations, and for a hinge, 5 DOF's are removed - x,y,z translation and say x,y rotation. Am I correct in these assumptions ?
What I don't understand (or can find any documentation/papers on) is how the value(s) are computed for the A(n*n) matrix and b(n*1) for each constraint, which tell the system to remove these DOF's.
Any help given is most appreciated.
Thanks in advance.
Gazza
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<DIV><FONT face=Arial size=2>Hi,</FONT></DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2>I'm trying to understand how to compute the
constraints matrix for a particular constraint.</FONT></DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2>I'm of the understanding that a 'contact'
constraint would remove a DOF along the contact normal, thus requiring 1
value. When solved, the force/impulse is applied along the normal.
For a ball joint, 3 DOF's are removed - x,y,z translations, and
f</FONT><FONT face=Arial size=2>or a hinge, 5 DOF's are removed - x,y,z
translation and say x,y rotation. Am I correct in these assumptions
?</FONT></DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2>What I don't understand (or can find any
documentation/papers on) is how the value(s) are computed for the A(n*n) matrix
and b(n*1) for each constraint, which tell the system to remove these
DOF's.</FONT></DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2>Any help given is most appreciated.</FONT></DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2>Thanks in advance.</FONT></DIV>
<DIV><FONT face=Arial size=2> Gazza</FONT></DIV></BODY></HTML>
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