desc->m_maxFriction

[yorisimo]

I am using the hinge created using NewtonConstraintCreateHinge.

What are the default values for desc->m_maxFriction and desc->m_minFriction? Are they essentially infinity and -infinity?

[ledahut]

This more look like an ogre-newt attribute.
Maybe you need to look the source-code and look in the constructor of hinge class [or ancestors class].

[Julio Jerez]

this is a legacy feature of 1.53 that carried to 2.0

use 2.00 custom joint an dyou will see what that is.
Basically is the max force or torque the solver will use to enforce the constraint.

[yorisimo]

I am actually using the Newton 1.53 version via a wrapper for Gamestudio. The wrapper provides access to all the built in functions and global variables. I want to use Newton 1.53 as is without recompiling anything.

The reason I'm asking about m_maxFriction and m_minFriction is because I want the joint to behave like a robotic arm with limited motor torque. I want to be able to adjust the m_maxFriction parameter so it is proportional to the strength of the motor. I control the motor using a velocity command:

Code: Select all

actual_omega = NewtonHingeGetJointOmega (hinge);
desc.m_accel = accelK * (desired_omega - actual_omega) / desc.m_timestep;


I want to set m_maxFriction, so that the joint can't necessarily reach the desired_omega if there is an external disturbance (say the robotic arm picked up a very heavy object). I'm not having much luck with adjusting this parameter, though, so I thought I would ask here for some more details on how this parameter is used to affect simulation. Is that the intended way to do this?