[BEPUik] linear joint problem

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[BEPUik] linear joint problem

Post by Darkon76 » Fri Apr 12, 2019 4:24 pm

I’m doing the IK of a complex object. The rotating joints works perfectly. But I can’t manage to properly create a translate joint.
The translate joint is a something like a hydraulic cylinder, that is attached to two rotating joints.

I have tried using the IKLinearAxisLimit, but I can’t manage to make it work correctly. It moves at a plane in which the axis is the plane normal.
Also I have tried a lot of joints combinations but I can’t manage to make it work.

Which is the proper IK setup for the attached object?
Setup.PNG (11.41 KiB) Viewed 5331 times

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Re: [BEPUik] linear joint problem

Post by Norbo » Fri Apr 12, 2019 4:45 pm

If I understand correctly, the IKPointOnLineJoint would be what you want- it confines a point on B to a line attached to A (which isn't what the documentation said it did, oops).

The IKLinearAxisLimit can be used to control the motion along an axis, effectively creating two parallel bounding planes as you noticed.

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