Re: Help with MultiBody
jon klein <[email protected]>
| Newsgroups | gmane.comp.breve |
|---|---|
| Message-ID | <[email protected]> |
On Aug 20, 2004, at 1:44 PM, sergio jimenez wrote: > Hi all, > > I'm new on Breve, so possibly this is a noobie question, please be > gentle. :-) > > The question: > > I create a Multibody with about 30 links, and I want to manage the > relative orentation of the links in it (for example wheels in angle > with the body). Which method must I use? Hi Sergio, are you referring to the "natural" relative orientation (when the joint is relaxed), or are you talking about making a joint turn to a certain angle? If you're referring to the relaxed joint orientation, you'll want to use the Joint methods set-relative-rotation and set-relative-rotation-matrix. These are typically used only when you're linking the joints for the first time. If instead you're trying to get the joint to turn to a certain angle, there is no method to do this instantly. You'll have to implement a simple joint controller which sets the joint velocities so that the joint will turn to the desired angle. This is typically just setting the joint velocity (or torque/force) based on the difference between the current location and the desired location. Hope this helps, - jon klein _______________________________________________ breve mailing list [email protected] http://www.spiderland.org/mailman/listinfo/breve