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1  Game Development / Game Mechanics / joode jointhinge velocity on: 2007-10-04 22:28:05
Is dJointGetHingeAngleRate implemented in Joode? It would be useful for me to be able to get the actual rate of the joint, not just the rate commanded by the limot. Addditionally, having an implementation of the universal joint would be really helpful. I know I can attach two hinges to an interstitial joint, but then I have to deal with corner rubbing and maked sure there's enough clearance for rotation. That makes my model physically unrealistic, and I'd like the dimensions to be as close as possible to the real world. Thanks,

- Josh
2  Game Development / Game Mechanics / Joode universal joint on: 2007-07-24 21:45:19
Is there an implemenation of the universal joint type in joode? I've tried do it with a JointConfigurable, but that results in explosions. Here's the code I'm using, where the coordinate system is that imposed by Xith (x viewer right, y local gravity up, z out of screen).

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    JointConfigurable hip = new JointConfigurable(getWorld());
    hip.attach(torsoBody, thighBody);
    hip.setAnchor1(new Vector3(sign * TORSO_RADIUS, TORSO_LENGTH/2, 0)); //relative to torso center
    hip.setAnchor2(new Vector3(sign * THIGH_WIDTH, -THIGH_WIDTH/2, THIGH_LENGTH/2)); //relative to thigh center
   
    hip.angularConstraints[0] = JointConfigurable.MOTOR_CONSTRAINT; //X, Pitch has motor
    hip.angularConstraints[1] = JointConfigurable.UNBOUNDED_CONSTRAINT; //Y, Yaw is unbounded
    hip.angularConstraints[2] = JointConfigurable.MOTOR_CONSTRAINT; //Z, Roll has motor


If anyone has just a simple universal joint class, or advice on how to implement it with JointConfigurable, I'd be very appreciative. Thanks,
- Josh

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