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Thread: using both kinematics and physics element for a single model

  1. #1

    using both kinematics and physics element for a single model

    Hello,

    I'm working on a rigid-body dynamics simulator which handles articulated systems with loops. The simulator expects
    as input a tree of bodies, linked by kinematic joints and some additional constraints for the loops.

    I would like the simulator to use collada files as input. However, I'm not sure that I can describe the tree of rigid bodies in collada. If I understand the specification correctly, I would need to use elements from both the physics and the kinematics parts. Is it supported ?

    From the following statement (p453), I think it is, but I don't know how.

    The kinematics elements relate as follows to existing capabilities of COLLADA:
    Use the definition of a <node> hierarchy that is independent of any joint declaration
    Allow physics- and kinematics-model instances to reference these nodes
    Use the shapes that are declared for each node for visual representation
    Define the node hierarchy using <library_nodes> (or directly in <visual_scene>)
    Can somebody here shed some light on this?

    Thanks !

  2. #2
    Junior Member
    Join Date
    Apr 2009
    Posts
    16

    Re: using both kinematics and physics element for a single model

    Hi,

    in COLLADA the different contexts (phyics, kinematics, visual representation) are strictly seperated from each other.

    The kinematics part describes objects that can move by their own.
    The physics part describes objects that are moved by external forces e.g. gravity.

    The combining of these different models is done through the scene element while instanciating all the different scenes.

    A good example can be found here:
    http://wikis.itec.uka.de/grasp/wiki/Rob ... xample.dae

    regards

    Steffen

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