The new "rigid" joint permits no motion at all, "function" specifies the
position of the joint as a function of the position of it's parent, and
"functionDot" specifies the position of the joint as a function of the
velocity of it's parent. Note that the functions are applied uniformly
to each component of the parent joint's position/motion. Example
specifications are shown below.
joint
{
type rigid;
}
joint
{
type function;
function table ((-1 0) (0 1) (1 0));
}
joint
{
type functionDot;
function table ((-1 0) (0 1) (1 0));
}
This work was supported by Caitlin Worden Hodge, at Zyba
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