[ODE] setting orientation of three bodies?

[Nguyen Binh]

Never use the dBodySeXXX with XXX = 1st/2nd order terms.
Read the documents first, you may find out why.
For articulated body, ODE maybe not a good answer.

On 3/24/06, dvir schirman <dvir_ode at yahoo.com> wrote:
>
>
> **
>
> Hi
>
> I am using ODE, in order to simulate a simple robot.
> The robot is built out of three rectangular boxes, and two joints
> connecting them.
> I am using hinge joints, because the robot should move only in the X-Z
> plane.
>
> I want to put the robot in a desired orientation. For example I want to
> set these angles:
> theta0 - the angle between the highest box and Z-axis.
> theta1 - the angle between the first and the second boxes
> theta2 - the angle between the second and the third boxes
> (As you can see in the attached image)
>
> I tried to use :
> dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, dReal
> angle);
> void dBodySetRotation (! dBodyID, const dMatrix3 R);
> When I attached the bodies with "hinge joints".
>
> But it didn't work. It rotated each body separately, and didn't keep them
> together, then the hinges made the bodies come closer to each other, and
> ruined my desired orientation.
>
> how can I set a desired orientation using those three angles?
>
> Thanks.
>    Dvir.
>
>
> ------------------------------
>
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--
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Binh Nguyen
Computer Science Department
Rensselaer Polytechnic Institute
Troy, NY, 12180
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