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.
Can somebody here shed some light on this?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>)