btMultiBody + inverse dynamics -> character controller
Posted: Sat Nov 19, 2016 10:36 am
Greetings.
The problem I've set myself is to take a model (actually from miku miku dance) convert to a multibody representation with hinge and spherical joints and ultimately try to hit keyframes in some motion data.
I've done the first bit creating the multibody, droped it spun it around etc, and that looks good. The next problem (the big one) is the inverse dynamics, so I tried using all hinge joints and just copying sample code and doing exactly what the kuka demo does, which works.
But if the base isn't fixed the thing goes ballistic.
If I use a spherical joint it crashes, and its even nice enough to tell me why
b3Error[/OgreNew/bullet3-master/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp,185]:
spherical joints not implemented
What I'm looking for is advice, can I do what I want to do? can I do it easily? how would you go about doing this?
The problem I've set myself is to take a model (actually from miku miku dance) convert to a multibody representation with hinge and spherical joints and ultimately try to hit keyframes in some motion data.
I've done the first bit creating the multibody, droped it spun it around etc, and that looks good. The next problem (the big one) is the inverse dynamics, so I tried using all hinge joints and just copying sample code and doing exactly what the kuka demo does, which works.
But if the base isn't fixed the thing goes ballistic.
If I use a spherical joint it crashes, and its even nice enough to tell me why
b3Error[/OgreNew/bullet3-master/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp,185]:
spherical joints not implemented
What I'm looking for is advice, can I do what I want to do? can I do it easily? how would you go about doing this?