Moderators: Sascha Willems, walaber
Even I have a hard time reading them when I come back to a demo after few weeks or month of doing something else.
<?xml version="1.0" ?>
<ndFile>
<ndWorld>
<ndPhysicsWorld className="ndPhysicsWorld" nodeId="0">
<ndWorld className="ndWorld" nodeId="1">
<subSteps int32="2" />
<iterations int32="4" />
</ndWorld>
</ndPhysicsWorld>
</ndWorld>
<ndShape>
<ndShapeClass className="ndShapeConvexHull" nodeId="2">
<ndShapeClass className="ndShapeConvex" nodeId="3">
<ndShapeClass className="ndShape" nodeId="4" />
</ndShapeClass>
<points count="58" float3Array="-0.014207 0.021723 -0.142141 " />
</ndShapeClass>
<ndShapeClass className="ndShapeConvexHull" nodeId="5">
<ndShapeClass className="ndShapeConvex" nodeId="6">
<ndShapeClass className="ndShape" nodeId="7" />
</ndShapeClass>
<points count="58" float3Array="-0.014207 0.021723 -0.142141" />
</ndShapeClass>
</ndShape>
<ndBodies>
<ndBodyClass className="ndBodyDynamic" nodeId="8">
<ndBodyClass className="ndBodyKinematic" nodeId="9">
<ndBodyClass className="ndBody" nodeId="10">
<ndBindingNotifyClass className="ndBindingRagdollEntityNotify" nodeId="11">
<ndNotifyClass className="ndDemoEntityNotify" nodeId="12">
<ndNotifyClass className="ndBodyNotify" nodeId="13">
<gravity float3="0.0 -10.0 0.0" />
</ndNotifyClass>
<useCollisionForVisual int32="1" />
</ndNotifyClass>
<bindMatrix>
<posit float3="0.0 0.0 0.0" />
<angles float3="0.0 -0.0 0.0" />
</bindMatrix>
<capSpeed float="100.0" />
</ndBindingNotifyClass>
<matrix>
<posit float3="-0.008467 1.2046 -0.001177" />
<angles float3="0.0 -0.0 -90.000023" />
</matrix>
<omega float3="0.0 0.0 0.0" />
<velocity float3="0.0 0.0 0.0" />
<centerOfMass float3="-0.051485 0.004352 0.001253" />
</ndBodyClass>
<ndShapeInstanceClass className="ndShapeInstance" nodeId="14">
<shapeNodeIdRef int32="2" />
<scale float3="1.0 1.0 1.0" />
<skinMargin float="0.0" />
<localMatrix>
<posit float3="0.063804 0.006622 0.001177" />
<angles float3="0.0 -0.0 91.099983" />
</localMatrix>
<alignmentMatrix>
<posit float3="0.0 0.0 0.0" />
<angles float3="0.0 -0.0 0.0" />
</alignmentMatrix>
<material count="8" int64Array="0 0 0 0 0 0 0 0" />
</ndShapeInstanceClass>
<invMass float="1.0" />
<inertia float3="0.008802 0.03931 0.034466" />
<principalAxis float3="0.0 -0.0 0.0" />
<useSkewInertia int32="0" />
<maxLinearStep float="1.0" />
<maxAngleStep float="90.0" />
</ndBodyClass>
<linearDampCoef float="0.0" />
<angularDampCoef float3="0.0 0.0 0.0" />
</ndBodyClass>
<ndBodyClass className="ndBodyDynamic" nodeId="15">
<ndBodyClass className="ndBodyKinematic" nodeId="16">
<ndBodyClass className="ndBody" nodeId="17">
<ndBindingNotifyClass className="ndBindingRagdollEntityNotify" nodeId="18">
<ndNotifyClass className="ndDemoEntityNotify" nodeId="19">
<ndNotifyClass className="ndBodyNotify" nodeId="20">
<gravity float3="0.0 -10.0 0.0" />
</ndNotifyClass>
<useCollisionForVisual int32="1" />
</ndNotifyClass>
<bindMatrix>
<posit float3="0.0 -1.081331 0.0" />
<angles float3="0.0 -0.0 0.0" />
</bindMatrix>
<capSpeed float="100.0" />
</ndBindingNotifyClass>
<matrix>
<posit float3="0.0 1.081331 0.0" />
<angles float3="0.0 -0.0 -90.000015" />
</matrix>
<omega float3="0.0 0.0 0.0" />
<velocity float3="0.0 0.0 0.0" />
<centerOfMass float3="0.032229 0.014571 0.000079" />
</ndBodyClass>
<ndShapeInstanceClass className="ndShapeInstance" nodeId="21">
<shapeNodeIdRef int32="5" />
<scale float3="1.0 1.0 1.0" />
<skinMargin float="0.0" />
<localMatrix>
<posit float3="0.157806 0.027379 0.0" />
<angles float3="0.0 -0.0 95.799988" />
</localMatrix>
<alignmentMatrix>
<posit float3="0.0 0.0 0.0" />
<angles float3="0.0 -0.0 0.0" />
</alignmentMatrix>
<material count="8" int64Array="0 0 0 0 0 0 0 0" />
</ndShapeInstanceClass>
<invMass float="1.0" />
<inertia float3="0.008996 0.043847 0.039075" />
<principalAxis float3="0.0 -0.0 0.0" />
<useSkewInertia int32="0" />
<maxLinearStep float="1.0" />
<maxAngleStep float="90.0" />
</ndBodyClass>
<linearDampCoef float="0.0" />
<angularDampCoef float3="0.0 0.0 0.0" />
</ndBodyClass>
</ndBodies>
<ndJoints>
<ndJointSpherical className="ndJointSpherical" nodeId="22">
<ndJointClass className="ndJointBilateralConstraint" nodeId="23">
<body0 int32="10" />
<body1 int32="17" />
<localMatrix0>
<posit float3="0.0 0.0 0.0" />
<angles float3="0.0 -0.0 0.0" />
</localMatrix0>
<localMatrix1>
<posit float3="-0.12327 -0.008467 -0.001177" />
<angles float3="0.0 -0.0 -0.000007" />
</localMatrix1>
<solverMode int32="1" />
</ndJointClass>
<rotationTarget>
<posit float3="0.0 0.0 0.0" />
<angles float3="0.0 -0.0 0.0" />
</rotationTarget>
<springConstant float="0.0" />
<damperConstant float="0.25" />
<springRegularizer float="0.1" />
<minTwistAngle float="-15.0" />
<maxTwistAngle float="-15.0" />
<maxConeAngle float="30.0" />
</ndJointSpherical>
</ndJoints>
<ndModels>
<ndModelPassiveRagdoll className="ndModelPassiveRagdoll" nodeId="24">
<ndModelBase className="ndModelBase" nodeId="25">
<ndModelClass className="ndModel" nodeId="26" />
<bodies count="2">
<body int32="17" />
<body int32="10" />
</bodies>
<joints count="1">
<joint int32="23" />
</joints>
</ndModelBase>
<limb>
<childBody int32="17" />
<parentBody int32="0" />
</limb>
<limb>
<childBody int32="10" />
<parentBody int32="17" />
</limb>
</ndModelPassiveRagdoll>
</ndModels>
</ndFile>
ps1 : we're still working on the model of autonomous biped in forward dynamics. i'll let you know.
I am not open that can speak with authority since I have failed so many times.
about the progress we made if we make some.I'll let you know
-calculate quantities. Cg, Mt, Vcg, It, Wcg, Acg, Bcg
-repeat until Bcg.x and Bcg.z are below some small value or the max iteration is reach.
-Move some internal actuated joint, to generate a change Cg, Mt, Vcg, It, Wcg, Acg, Bcg
-such that Bcg.x and Bcg.z decreases toward a small value.
a) Mt = sum (M(i))
b) Cg = sum (p(i) * M(i)) / Mt
c) Vcg = sum (v(i) * M(i)) / Mt
T0 = sum [(V(i) - Vcg) x (m(i) * V(i)) + w(i) x (I(i) * w(i)]
T1 = sum [(r(i) - cg) x Fext(i) + Text(i)]
Bcg = (Icg^-1) * (T0 + T1)
T0 = sum [w(i) x (I(i) * w(i)) - Vcg x (m(i) * V(i))]
T1 = sum [(r(i) - cg) x Fext(i) + Text(i)]
Bcg = (Icg^-1) * (T0 + T1)
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