[ODE] setting orientation of three bodies?

[dvir schirman]

Hi and thank ou for your answer.

What do you mean by 1st/2nd terms?
Can you please point me to the exact point at the documents explaning it? I couldn't find a section explaning it.

Thanks
Dvir

Nguyen Binh <ngbinh at gmail.com> wrote: 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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Binh Nguyen
Computer Science Department
Rensselaer Polytechnic Institute 
Troy, NY, 12180
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