RE: [Pyode-user] amotor with ball joint?

[Paul K. <pki...@in...>]

I got AMotor limits working in Euler Mode.

To do so, I added the following definitions to the pyx file....

ParamLoStop3        = 512+0
ParamHiStop3        = 512+1

Then the following code successfully adds limits to a balljoint....

am = ode.AMotor(self.world)
am.attach (body1, body2)
am.setMode(ode.AMotorEuler)
am.setAxis(0, 1, [1, 0, 0]) # Second parameter must be 1
am.setAxis(2, 2, [0, 0, 1]) # Second parameter must be 2
am.setParam(ode.ParamLoStop, xLo)
am.setParam(ode.ParamHiStop, xHi)
am.setParam(ode.ParamLoStop2, yLo)
am.setParam(ode.ParamHiStop2, yHi)
am.setParam(ode.ParamLoStop3, zLo)
am.setParam(ode.ParamHiStop3, zHi)

Converting this to UserMode resulted in the limits not working at all.
I was unable to find the problem.  My guess is that there is an issue
with PyODE's AMotor.setNumAxes or setAngle, but I couldn't track it
down.

Using EulerMode rather than UserMode has 2 issues for me.  1) The joint
must be creating with the bodies "unbent" (ie. No rotation), since you
can't use setAngle, and 2) you can't create a limit between a body and
the environment (well I couldn't work out how to do it anyway) since
am.setAxis(2, 2, [0, 0, 1]) fails if the second body is the
ode.environment.

So if anyone works out how to get this working with EulerMode, I'd love
to know how they did it.

Paul

-----Original Message-----
From: pyo...@li...
[mailto:pyo...@li...] On Behalf Of Chris
Bainbridge
Sent: Tuesday, 20 September 2005 2:27 AM
To: pyo...@li...
Subject: [Pyode-user] amotor with ball joint?

Hi, 

Has anyone successfully got AMotors to work with universal or ball
joints? According to the 2nd pyode tutorial, they won't work. But
according to the ode manual, it should work, and some users of the ode
mailing list have claimed to have it working. I notice that the
ParamX3 definitions are missing from the pyode wrappers - is this
deliberate?

From my own tests, in User Mode I can't get the AMotor to do anything.
In Euler mode only the 2nd axis control (ParamVel, ParamFMax2) seems
to have any effect, the other axis controls don't do anything.

Any ideas?

Thanks,
Chris


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