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From: nagle@netcom.com (John Nagle)
Subject: Re: Modelling joint limits
Message-ID: <nagleDBqI0y.G8p@netcom.com>
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References: <1995Jul13.122959.20643@jarvis.cs.toronto.edu>
Date: Sat, 15 Jul 1995 01:41:22 GMT
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victorng@dgp.toronto.edu (Victor Ng-Thow-Hing) writes:
>I'm working on computer simulation of articulated objects. Can anyone
>recommend a way of implementing joint limits for dynamic simulation. I've
>used spring-damper systems that become active when the limits are exceeded,
>but this creates stiff systems and exhibits undesirable compliance.

     Consider simulating an elastic collision with a low coefficient of
restitution.  Try using a "rod" constraint in Working Model from 
Knowledge Revolution to get a feel for how this behaves.

					John Nagle
