[ODE] fixed path constraint

[Erin Catto]

This is indeed possible. It would require a new joint type. You will need a
callback to query the spline and some sort of state to maintain the current
spline coordinate.

The constraint is straight forward:

pos - pos_spline(t) = 0 (3 constraints)

At the velocity level:

v + cross(omega, r) - vel_spline(t) = 0

v: velocity of center of mass, omega: angular velocity, r: radius vector

Erin


-----Original Message-----
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org] On Behalf Of Cristian
Bianchi
Sent: Tuesday, July 05, 2005 1:42 AM
To: ode
Subject: [ODE] fixed path constraint

Hi to all
did anyone implement a fixed path constraint? I'd like to constraint the
movement of a body along a curve. I know I can use the classic spring/damper
approach... but I think ODE joint would be more precise and reliable. :)
Any suggestion/code trick?
Thanks in advance

Cristian Bianchi
Simulation Software Division
DIESGroup srl, Rome - Italy


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