Hi,
Could anyone send me an example of a COLLADA file that uses both kinematics and dynamics (i.e., a file that specifies dynamics of an articulated body)?
Thanks,
Evan
Hi,
Could anyone send me an example of a COLLADA file that uses both kinematics and dynamics (i.e., a file that specifies dynamics of an articulated body)?
Thanks,
Evan
Hi,
how about
http://wikis.itec.uka.de/grasp/wiki/Robot_Editor
see section “Export to COLLADA” -> “example.dae”.
Thanks for responding! That file, example.dae, does indeed contain both kinematics and rigid body elements. However, the dynamic elements are all disabled (<dynamic>false</dynamic>). Additionally, the dynamics and kinematics elements are separated; there are no references from one to the other.
Thanks,
Evan
Hi Evan,
the kinematics part of COLLADA 1.5.0 devides into four subparts:
The binding to visual scene is done while instancing the kinematics scene in the scene element.
The dynamic element just describes if a rigid body can move in physics context.
The difference between the physics context and the kinematics context is:
the kinematics part describes moveable or better articulated objects that do the movement by theri own.
The physics part decribes objects that are moved by some external forces e.g. gravity.
The reference between those two models can be done by a visual scene, that only needs are node hierarchy if there is nothing to visualize.
I hope this answer may help you.
Feel free to ask more!
Best regards
Steffen