[ODE] 2d system -- within Ode

[psero@gmx.de]

Hello--

simulating a 2d system within Ode can be
achieved with a additional constraint type.

Russell has described how to build new
joints (http://opende.sourceforge.net/joints.pdf)
and I found this helpful to implement a "Plane2D"
joint type that I am using successfully in 
an interactive media installation now.

My Plane2D joint takes only one body 
and constraints its position to be at world's z=0,
and its z-axis to be aligned with world's z-axis.
So 3 degrees of freedom remain (x-, y-translation
and z-rotation). 3 Linear motors are included,
one for each degree of freedom.

The implementation is not perfect, but is works
quite efficently.
(I couldn't figure out how to compute
the drift correction term ("c"-term) for the orientation.
Should be similar to that of a simple hinge,
but for now one has to fix the body's orientation
in the application, after each simulation step.)

Anyone interested?

Peter

-- 
+++ GMX - Mail, Messaging & more  http://www.gmx.net +++
Bitte lächeln! Fotogalerie online mit GMX ohne eigene Homepage!