[ODE] Returning to a previous state?

[steve1011]

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Steve

Jun Li wrote:

>Hi, Thanks.
>But I think I've already subscribe it.
>
>My mail box looks like:
>
>"ODE digest: vol XX, Issue XX
>ODE digest: vol XX, Issue XX
>ODE digest: vol XX, Issue XX
>ODE digest: vol XX, Issue XX
>...."
>
>What's wrong?
>
>Jun.
>
>
>ak wrote:
>
>  
>
>>hi.
>>
>>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 
>>>mail.
>>>
>>>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 
>>>orientations
>>>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.
>>>
>>>BTW,
>>>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
>>this list.
>>
>>nothing more to say.
>>
>>cheers
>>
>>ak
>> 
>>
>>    
>>
>
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