[ODE] Question about joint

[Tor ...]

Thanks Céline.

I found that when I attach bodies with joint then move and rotate bodies by 
using dBodySetPosition and dBodySetRotation in order. It's work properly without
the need of reset anchor and axis.

But I don't know, whether it has any problem.
I'm still trying ;)

> ----- Original Message -----
> From: GLANDIERES, Céline <cglandieres at sogitec.fr>
> To: "'Tor ...'" <aramboy at kittymail.com>, ode at ode.org
> Subject: RE: [ODE] Question about joint
> Date: Tue, 6 Mar 2007 09:29:48 +0100
> 
> 
> Hi,
> In fact , in my case I set the body position and the anchor and the axis of
> joints, then to move my bodys (for example to rotate them around the hinge
> axis), I use the methods dJointSetHingeParam (hinge, dParamVel, velValue)
> and  dJointSetHinge2Param (hinge, dParamFMax, ForceValue). You can also use
> dBodyAddForce to move your bodys.
> Indeed, If you move your body by using dBodySetRotation or bBodySetPosition,
> I think (but I'm not sure) that you have to reset the new anchor and axis of
> your joint.
> 
> Céline
> 
> 
> -----Message d'origine-----
> De : Tor ... [mailto:aramboy at kittymail.com]
> Envoyé : mardi 6 mars 2007 07:51
> À : ode at ode.org; cglandieres at sogitec.fr
> Objet : RE: [ODE] Question about joint
> 
> Hi,
> 
> Thanks for your help, maybe I misunderstand something because I'm confusing
> about the anchor and axis of the hinge as follow :
> 
> 1. If I initial object by attach 2 bodies  with hinge at (0, 0, 1), then I
> set its position to new coordinate such as
> 
> (5, 5, Z) by using dBodySetPosition. Do I need to reset new anchor to the
> (5, 5, 1) ?
> 
> 2. If I initial object by set the axis of hinge as
> dJointSetHingeAxis(joint_hinge, 0, 1, 0) then I rotate the bodies around
> Z-Axis by using dBodySetRotation. Do I need to set the new axis for hinge ?
> 
> 
> Are there anyway to move and rotate bodies attach by joint without the need
> to set new anchor and axis of hinge ?
> 
> Thanks again in advance.
> 
> 
> PS. I donn't know how to reply thread ODE mailing list. If this message has
> any mistake sorry for that.
> 
> Tor ...
> > ----- Original Message -----
> > From: GLANDIERES, Céline <cglandieres at sogitec.fr>
> > To: "Tor ..." <aramboy at kittymail.com>, ode at ode.org
> > Subject: RE: [ODE] Question about joint
> > Date: Mon, 5 Mar 2007 14:26:04 +0100
> >
> >
> >   Hi,
> >
> > I have the same pb at the beginning, I decreased the mass body 
> > (set to 0.05) to decreased the effect of inertia and now my 
> > system is stable. For information, I set the others paramters to 
> > ERP = 0.1 and CFM = 10-6.
> > If it doesn't work you perhaps the center or the axis of your 
> > hinge joint are wrong.
> >
> > Céline
> >
> > -----Message d'origine-----
> > De : Tor ... [mailto:aramboy at kittymail.com] Envoyé : dimanche 4 
> > mars 2007 03:54 À : ode at ode.org Objet : [ODE] Question about joint
> >
> > Hi, this is the first post for me. If there is any mistake, sorry for
> that.
> >
> > I have searched for my problem and saw that someone already post 
> > it but there are no answer.
> >
> >
> > I'm using ode in legged robot simulator.
> > I use hinge joint to build robot's leg but I have faced these problem
> >
> > 1. bodies that attached by joint are oscillate (slip) although 
> > I'm not apply any force or any movement. I think it's joint error 
> > problem, so I set ERP to 0.8 or 1.0 and CFM to 0.0 but it's still 
> > not stable. How can I solve this problem.
> >
> > 2. I construct the robot legs(which composed of many body for 
> > each) at the center coordinate. How can I move them to the 
> > desired position because I use the same function to construct 2 
> > legs and have to set it in different position.
> >
> > Thanks in advance.
> >
> >
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> Tout message électronique est susceptible d'altération. SOGITEC 
> décline toute responsabilité au titre de ce message s'il a été 
> altéré, déformé ou falsifié.
> Si vous n'êtes pas destinataire de ce message, merci de le détruire 
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