[ODE] problem with stops

[Martin C. Martin]

You need to set the FMax parameter > 0.

- Martin

ray@his.atr.co.jp wrote:
> 
> ODE:
> 
> I have implemented angle motors with stops, but the stops do
> not work.  The joints continue rotating in one directions, like
> wheels on axles.  Any advice?
> 
> Tom Ray
> 
> ----
> 
> #define PI 3.141529654f
> dBodyID  body;
> dJointID motor;
> 
> ...
> 
> motor = dJointCreateAMotor(world, 0);
> dJointAttach(motor, body, Seg2.body);
> dJointSetAMotorMode(motor, dAMotorUser);
> dJointSetAMotorNumAxes(motor, 3);
> 
> dBodyGetRelPointPos(body, 1, 0, 0, xyzNRF);
> dJointSetAMotorAxis (motor, 0, 2, xyzNRF[0], xyzNRF[1], xyzNRF[2]);
> dBodyGetRelPointPos(body, 0, 1, 0, xyzNRF);
> dJointSetAMotorAxis (motor, 1, 2, xyzNRF[0], xyzNRF[1], xyzNRF[2]);
> dBodyGetRelPointPos(body, 0, 0, 1, xyzNRF);
> dJointSetAMotorAxis (motor, 2, 2, xyzNRF[0], xyzNRF[1], xyzNRF[2]);
> 
> dJointSetAMotorParam (motor, dParamLoStop,  -PI / 20);
> dJointSetAMotorParam (motor, dParamLoStop2, -PI / 20);
> dJointSetAMotorParam (motor, dParamLoStop3, -PI / 20);
> dJointSetAMotorParam (motor, dParamHiStop,  PI / 20);
> dJointSetAMotorParam (motor, dParamHiStop2, PI / 20);
> dJointSetAMotorParam (motor, dParamHiStop3, PI / 20);
> 
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