[ODE] FMax and Vel doesnt wrok for me! Y?

[Tyler Streeter]

Maybe try scaling up the maxForce and/or pValue variables a lot. 
Sometimes you need a lot of force to get things moving.  This is
especially true if your bodies have a lot of mass or if one of the
legs touches the ground with high friction.

Also, where are you using the joint rate?

Tyler


On Tue, 2 Nov 2004 08:37:05 -0800 (PST), Neelam C <tina_vipul at yahoo.com> wrote:
> 
> Hi all,
> 
> I have written a simple code to simulate a leg of a dog (to make it walk). I am
> using inverse kinematics and calculation joint angles for knee and shoulder. But
> when I try to apply force/velocity to those joints it doesnt work. The leg
> doesnt move at all! I dont know why.
> 
> this part of code is just for knee. then using this knee angle i calculate
> shoulder angle and then its the same piece of code.
> ---------------------------------------------------------------
>         val = sqrt (((s-a)*(s-b))/(a*b));
>         if (val > 1) // then its problem coz acos(val>1) = NaN
>            val = 1.0;
>         J = 2 * acos(val);
>         J3 = (uRadians)(J);
>         actualKneeAngle = dJointGetHingeAngle(kJoint.jointID);
> 
> //function that actually calculates angles, positions and apply force/velocity
> to //angles
>         // get actualKneeAngle to J3
>         jointError = (double)J3 - (double)actualKneeAngle;
>         jointRate = dJointGetHingeAngleRate(kJoint.jointID);
>         if ((double)jointRate < 0.1 &&(double)jointRate > -0.1 )
>                 jointRate = 0.1;
> 
>         maxForce = xx.xx;
>         dJointSetHingeParam(kJoint.jointID,     dParamFMax, maxForce);
>         dJointSetHingeParam(kJoint.jointID,     dParamVel, pValue*jointError);
> 
> ------------------------------------------------------------------
> 
> i have varied values of maxForce and pValue and havent noticed any change! I
> really dont know what I am doing wrong here.
> 
> HELP!!!
> 
> Thank you,
> 
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