[ODE] Body fixed path constraint

[Jon Watte (ODE)]

It sounds like you want a kinematic body, rather than just a joint.

ODE doesn't have pure kinematic bodies, although there are ways of 
faking it.

The question is: do you care about the body-ness at all? Will you want 
the character to not be able to walk through walls, even if that's what 
the mocap says? If so, you should probably build a controller system, 
either with amotors and stoppered slider joints, or "manually" with 
forces and torques. Feed in the maximal torques and forces you would 
want to attempt to use to follow the animation, and feed in the target 
angles and positions, and let the solver solve it.

If you want your character to follow the mocap, period, then you can 
remove the bodies entirely, and just use body-less geoms that you move 
through the world based on the mocap data.

Cheers,

			/ h+


Keerati Settacharnwit wrote:
> 
> Hi all,
> 
> I've read about fixed path constraint in 
> http://q12.org/pipermail/ode/2005-July/016374.html.
> Now, I'm trying to constraint the movement and also orientation of a 
> body along with motion capture data
> that i have (so at each time I have position and orientation data in 
> 3d). Is it possible to create new joint that
> constraint to this kind of information? And if it's possible, what is 
> the best way to add it into ODE?
> Thank you.