[ODE] Returning to a previous state?
12345alex at gmx.net
Thu Mar 2 15:11:51 MST 2006
Am Donnerstag, den 02.03.2006, 21:45 +0000 schrieb Jun Li:
> I have encountered the same problem.
> As you mentioned, the current save-to-file scheme is not suitable for
> the application such as:
> try to apply a torque/force to some link, observe it's effect to the
> system, according that effects
> of every torque compute the correct value for the torque/force and then
> recover the system state
> and apply the obtained torque/force(s).
> In the following, note those in capital, which is not mentioned in your
> I used the same way as yours, that is, storing all the positions,
> rotations(quaternions), linear and
> ANGULAR velocities, joint anchor points and AXES and reset them.
> Joint ANGLEs are computed from the axis of the joint and the
> orientations of the two bodies
> attached. It is set to zero every time you call dJointSetXXXX(), so you
> cannot explicitly reset
> a joint angle. If you want keep track to the angle, you need to record
> them every time you store
> and reset the system.
> One pitfall of this method I encountered is that: the ORDER of resetting
> those values is
> important. As mentioned above, dJointSetXXXX remember the corrent bodies
> and affects the following dJointGetAngle(). So when you reset the
> system, you must first
> reset all bodies' configuration(position, orientation, and l/a
> velocities), and then you can
> reset the joint anchor point and axis. Otherwise, you shall failed to
> track the joint angles.
> Why I can only receive the daily digest of this mail list? Who can tell
> me how to get fresh mails?
> (Please send to my mailbox directly.)
this is the maillist-configuration, you choose it when you subscribe to
nothing more to say.
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