[ODE] motor stops don't work

[Martin C. Martin]

Try setting FMax to dInfinity.  FMax is a force, but you're giving it an
angle, so you have a type error.

- Martin

ray@his.atr.co.jp wrote:
> 
> ODE:
> 
> I want to thank slipch and Martin for responding.  I had already
> set the FMax parameter > 0.  At slipch's suggestion, I tried to
> solve the problem with dJointSetAMotorAngle(), but it still
> doesn't work.  I attach a more complete code sample below.
> 
> 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 joint;
> dJointID motor;
> 
> ...
> 
> joint = dJointCreateBall (world, 0);
> dJointAttach(joint, Seg2.body, body);
> dJointSetBallAnchor (joint, xyzNRF[0], xyzNRF[1], xyzNRF[2]);
> 
> ...
> 
> 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]);
> 
> dJointSetAMotorAngle (motor, 0, 0.0f);
> dJointSetAMotorAngle (motor, 1, 0.0f);
> dJointSetAMotorAngle (motor, 2, 0.0f);
> 
> dJointSetAMotorParam (motor, dParamFMax,  PI);
> dJointSetAMotorParam (motor, dParamFMax2, PI);
> dJointSetAMotorParam (motor, dParamFMax3, PI);
> dJointSetAMotorParam (motor, dParamCFM,  CFM);
> dJointSetAMotorParam (motor, dParamCFM2, CFM);
> dJointSetAMotorParam (motor, dParamCFM3, CFM);
> dJointSetAMotorParam (motor, dParamStopCFM,  CFM);
> dJointSetAMotorParam (motor, dParamStopCFM2, CFM);
> dJointSetAMotorParam (motor, dParamStopCFM3, CFM);
> dJointSetAMotorParam (motor, dParamStopERP,  ERP);
> dJointSetAMotorParam (motor, dParamStopERP2, ERP);
> dJointSetAMotorParam (motor, dParamStopERP3, ERP);
> dJointSetAMotorParam (motor, dParamLoStop,  -PI / 4.f);
> dJointSetAMotorParam (motor, dParamLoStop2, -PI / 4.f);
> dJointSetAMotorParam (motor, dParamLoStop3, -PI / 4.f);
> dJointSetAMotorParam (motor, dParamHiStop,   PI / 4.f);
> dJointSetAMotorParam (motor, dParamHiStop2,  PI / 4.f);
> dJointSetAMotorParam (motor, dParamHiStop3,  PI / 4.f);
> 
> _______________________________________________
> ODE mailing list
> ODE@q12.org
> http://q12.org/mailman/listinfo/ode