[simspark-devel] The joint limits issues

[Feng X. <hen...@ma...>]

Hi all,

    The joint limits feature in ode is not very good. If a joint angle is not between the min and max(typically caused by errors), and you are trying to make the joint angle return to the normal, then, a large force is produced and it will cause a "jumping motion". Though I used the fudgefactor to reduce the force, it is not as perfect as what I expected.
   
    So, I decide to write some codes in hingeeffector.cpp to check the velocity sent by agent so that if the velocity may cause a "out of range joint angle", I can disable it or reduce the velocity. Is there any other ideas?

Cheers!



Feng Xue
2008-04-11