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Re: Correction: PH_WHEEL
#15487
05/03/03 04:18
05/03/03 04:18
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Anonymous
OP
Unregistered
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Anonymous
OP
Unregistered
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quote: PH_WHEEL Type: Description : Entities are allowed to rotate around axis 1 and axis 2. Use this constraint for setting up wheel-like behavior instead of using two separate PH_HINGEs. For a car, axis 1 is the steering axis (left/right), while axis 2 is required for forward/backward movement. Only axis 1 can have angle limits and can have its orientation queried (phcon_getposition).
Parameter 1 : Anchor point Parameter 2 : Wheel axis 1 relative to first entity´s orientation, e.g. (0,0,1) Parameter 3 : Wheel axis 2 relative to second entity´s orientation, e.g. (1,0,0)
Parameter 4 : Allowed angles around axis1, e.g. (-45, 90, 0) sets the lower limit to -45 degrees and the upper limit around the axis to +90 degrees. Use (-360, 360, 0) to remove all limits. Parameter 5 : nullvector Parameter 6 : nullvector or spring-damper constants e.g.( 0.9, 0.001,0)
Motor 1 : Set desired angular velocity around axis 1 and the maximum torque allowed to achieve this velocity, e.g. (10, 50,0) will set a desired angular velocity of 10 Hz and a maximum torque of 50,000 Nm Motor 2 : Set desired angular velocity around axis 2 and the maximum torque allowed to achieve this velocity, e.g. (10, 50,0) will set a desired angular velocity of 10 Hz and a maximum torque of 50,000 Nm
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