[ODE] Interacting with moving world geometry.

[Megan Fox]

To resurrect an old thread - has anyone implemented anything like the
kinematic body concept that Alen describes (in an open-source can-share-it
way, that is)?  Essentially, some sort of analog to Tokamak's AnimatedBody.

-Megan Fox

-----Original Message-----
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org]On Behalf Of Alen
Ladavac
Sent: Friday, April 16, 2004 11:04 AM
To: ode at q12.org
Subject: Re: [ODE] Interacting with moving world geometry.


The clean way to do it would be to add concept of kinematic bodies to ODE -
those that do not accept force and torque, but can still have velocities. If
you do it as moving static geometries, it turns out other bodies bounce of
wrong, because velocity is not incorporated into the joint equation. If, on
the other hand, you put in a very high mass, you either don't get real
kinematic behavior (if the mass is not high enough), or get a singular
inverse mass matrix (if mass is too high).

The change shoud not be very hard to do, mostly a few changes in the contact
joint so the velocities get calculated even though the joint force cannot
influence it. This is similar to the problem recently mentioned with a
stand-up object. Just that here you need all 6DOFs to be kinematic.

HTH,
Alen