[ODE] bone as a rigid body

[Obi]

Hi,

   i'm making mine own dynamic/kinematic controlled model based on ode
   and cal3d. in this model every bone is treat as a rigid body, the
   problem is that if i give them local core bone transform for start (b/c i want
   to fast change cal bone positions based on ode control) and b/c of that
   when gravity works on other bones than main bone then result isn't
   good... i wonder if it would be right when gravity will work only on
   this particular bone.

   Second: do someone know some good and not complex literature about
   appropriate joint constraints on human like models?

-- 
Greetings,
 Obi                            mailto:obi_1 at interia.pl


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