using hinge joints to move 2 bodies

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using hinge joints to move 2 bodies

Postby drozzel » Sat Jun 26, 2010 4:57 pm

Hi all,

I am trying to build a simulator for a hexapod robot(6 legged robot).

So far I succeeded in building the hexapod in irrlicht and setting up collision detection for each part of the robot(convexhulls) using newton.

Each leg excists out of 3 parts that are connected with hinge joints. Each leg is then attached to the body with another hinge joint.

The idea is that I can give an angle to the joints so the leg moves to the desired position.

This is the part where I am stuck. In the hinge callback function I can change the joint angle, but once the hexapod is in its start position(all angles on 0) the callbacks are not called anymore because the bodies are all in the correct positions.

If I want to change the angle of a joint now from outside the callback, how should I do that?
(the program that will steer the hexapod can only send angles for each joint).

Thx in advance
drozzel
 
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Joined: Sat Jun 26, 2010 4:27 pm

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