[ODE] Re: Re: Featherstone vs ODE for large-scale ALife project (jon klein)
Adrian Boeing
aboeing at iprimus.com.au
Thu Sep 4 18:21:02 2003
This is a multi-part message in MIME format.
------=_NextPart_000_000F_01C3738F.2B15C370
Content-Type: text/plain;
charset="iso-8859-1"
Content-Transfer-Encoding: quoted-printable
Hi, I am also working on an a-life project simulating alot of robots, =
and I am currently using Dynamechs, but am in the process of moving to =
ODE. ODE is simply more complete so I can do more experiments, and I =
have found that Dynamechs is too slow anyway, most commercial libraries =
are a lot faster/better (from what I can tell).
>I have an implementation of the Featherstone algorithm I wrote which=20
>I'd be
>happy to share with anybody who's interested. It probably needs some=20
>work,
>but it works pretty well.
I wouldn't mind a copy of that! Please. =3D)
>Brian Mirtich's thesis explains these algorithms, and also how=20
>Featherstone
>can be used to simulated resting contact:
>http://www.cs.berkeley.edu/~jfc/mirtich/impulse.html
I can't seem to download the thesis from anywhere, do you happen to have =
a copy?
>All in all, I think you'll find that the implementation/debugging time=20
>for
>the Featherstone algorithm will outweigh any possible benefits. It's
>probably best to start with ODE (since it's already ready-to-use) and=20
>see
>if it works before making the leap to Featherstone.
Sounds like the best idea to me too. My project can be executed in =
parallel, so its easier to just add more machines to the cluster. Maybe =
you could do the same?.
-Adrian
------=_NextPart_000_000F_01C3738F.2B15C370
Content-Type: text/html;
charset="iso-8859-1"
Content-Transfer-Encoding: quoted-printable
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<HTML><HEAD>
<META http-equiv=3DContent-Type content=3D"text/html; =
charset=3Diso-8859-1">
<META content=3D"MSHTML 6.00.2800.1226" name=3DGENERATOR>
<STYLE></STYLE>
</HEAD>
<BODY bgColor=3D#ffffff>
<DIV><FONT face=3DArial size=3D2><FONT face=3D"Times New Roman" =
size=3D3><FONT=20
face=3DArial size=3D2>Hi, I am also working on an a-life project =
simulating alot of=20
robots, and I am currently using Dynamechs, but am in the process of =
moving to=20
ODE. ODE is simply more complete so I can do more experiments, and I =
have found=20
that Dynamechs is too slow anyway, most commercial libraries are a lot=20
faster/better (from what I can tell).</FONT></FONT></FONT></DIV>
<DIV><FONT face=3DArial size=3D2><FONT face=3D"Times New Roman" =
size=3D3><BR>>I have=20
an implementation of the Featherstone algorithm I wrote which =
<BR>>I'd=20
be<BR>>happy to share with anybody who's interested. It =
probably needs=20
some <BR>>work,<BR>>but it works pretty well.</FONT></FONT></DIV>
<DIV><FONT face=3DArial size=3D2><FONT face=3DArial =
size=3D2></FONT></FONT> </DIV>
<DIV><FONT face=3DArial size=3D2><FONT><FONT face=3D"Times New Roman" =
size=3D3>I=20
wouldn't mind a copy of that! Please. =3D)</FONT></DIV>
<DIV><BR><BR></FONT><FONT face=3D"Times New Roman" size=3D3>>Brian =
Mirtich's=20
thesis explains these algorithms, and also how =
<BR>>Featherstone<BR>>can=20
be used to simulated resting contact:<BR>></FONT><A=20
href=3D"http://www.cs.berkeley.edu/~jfc/mirtich/impulse.html"><FONT=20
face=3D"Times New Roman"=20
size=3D3>http://www.cs.berkeley.edu/~jfc/mirtich/impulse.html</FONT></A><=
BR></DIV>
<DIV>I can't seem to download the thesis from anywhere, do you happen to =
have a=20
copy?</DIV>
<DIV><BR><BR><FONT face=3D"Times New Roman" size=3D3>>All in all, I =
think you'll=20
find that the implementation/debugging time <BR>>for<BR>>the =
Featherstone=20
algorithm will outweigh any possible benefits. =
It's<BR>>probably best=20
to start with ODE (since it's already ready-to-use) and =
<BR>>see<BR>>if it=20
works before making the leap to Featherstone.</FONT></DIV>
<DIV><FONT face=3D"Times New Roman" size=3D3></FONT> </DIV>
<DIV><FONT face=3D"Times New Roman" size=3D3>Sounds like the best idea =
to me too. My=20
project can be executed in parallel, so its easier to just add more =
machines to=20
the cluster. Maybe you could do the same?.</FONT></DIV>
<DIV><FONT face=3D"Times New Roman" size=3D3></FONT> </DIV>
<DIV><FONT face=3D"Times New Roman"=20
size=3D3>-Adrian</FONT></DIV></FONT></BODY></HTML>
------=_NextPart_000_000F_01C3738F.2B15C370--