[ODE] Limited Physics for Bipeds

[Jon Watte]

> But at the same time, I do not want the bipeds to be
> tipping over or collapsing as they would be normally
> -- this would not be suitable for the type of gameplay
> I have planned.

You can tie the main body to the unmoving world using an AMotor (simulating a gyro) and apply desired velocities/forces based on where "up" of the main body is. I use this to stabilize a hovercraft, and it works fine. Note: I've had more success with world-relative mode, than object-relative mode.

Cheers,

			/ h+