[ODE] three-body joints

[Erin Catto]

This could be done easily:

dot(omega_body_1, some_axis) - gear_ratio * dot(omega_body_2, some_axis) = 0

Erin

-----Original Message-----
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org] On Behalf Of Gary R.
Van Sickle
Sent: Saturday, September 11, 2004 3:48 PM
To: ode at q12.org
Subject: RE: [ODE] three-body joints


> > > The differential is a joint between the drive shaft, and the two 
> > > axels that go to the wheels.
> > 
> > Right.  So doesn't a universal joint between each half-axle and the 
> > drive shaft do it?
> 
> The problem is, a universal joint makes the constaint w_Axel 
> = w_Drive (where w is angular velocity on some axis).  A 
> differential makes the constraint w_Axel1 + w_Axel2 = w_Drive 
> / g (for differential ratio g). 
> That's an entirely different puppy :)  I would love to have a 
> joint type that would let me put in whatever linear equations 
> like this.

OHHHHHHHHohohohohoh.  Yep.  In fact, ODE has nothing that I'm aware of that
could be (realistically) used to simulate any sort of gearing ( for gearing
ration != 1:1).  I wonder if this can even be handled with the Jacobian
scheme....

-- 
Gary R. Van Sickle

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