您最多选择25个主题 主题必须以中文或者字母或数字开头,可以包含连字符 (-),并且长度不得超过35个字符
Juozas Kasiliauskas 571e1d96 Minor cleanup and comments 2 年前
.yamato Update sonar.yml 3 年前
Demo_gifs Add External Forces Demo scene 2 年前
InverseDynamicsDemoProject Minor cleanup and comments 2 年前
.DS_Store Put project into subfolder 3 年前
.gitignore Put project into subfolder 3 年前
LICENSE.md Remove template reminder from License 3 年前
README.md Add External Forces Demo scene 2 年前

README.md

Unity Inverse Dynamics demo project

A project containing demo scenes showing off the Inverse dynamics features available with Articulation Bodies

Counteracting Gravity forces

Use ArticulationBody.GetJointGravityForces(List<float> forces) to get the forces required to counteract gravity. Applying them directly will negate the effect of gravity on the Articulation. It also serves to show how much strain there is on the joints caused by gravity.

ID Gravity Demo

Counteracting Coriolis/Centrifugal forces

Use ArticulationBody.GetJointCoriolisCentrifugalForces(List<float> forces) to get the forces required to counteract coriolis and centrifugal effects. Applying them directly will negate the effect of Coriolis and Centrifugal forces on the articulation.

ID Coriolis Applied

Otherwise, this method can tell you what is the effect of coriolis and centrifugal forces on your articulation

ID Coriolis Centrifugal Demo

Getting the Articulation Drive forces

Use ArticulationBody.GetDriveForces(List<float> forces) to get the forces applied by each Articulation Drive in the whole articulation chain.
Use the ArticulationBody.driveForce property to get the forces applied by the Articulation Drive that is attached to the body.

ID Drive forces Demo

Getting forces required to reach a specific acceleration

Use ArticulationBody.GetJointForcesForAcceleration(ArticulationReducedSpace acceleration) to get the forces needed to reach the provided acceleration in reduced space. This method works on the specific Articulation Body and not the whole chain.
Note: The DoF count for the provided acceleration must match the DoF count of the inbound joint. (for example if the inbound joint is prismatic or revolute, the provided acceleration should also only have one DoF)

ID Forces For acceleration

Getting the Reduced Space forces needed to counteract External forces

Use ArticulationBody.GetJointExternalForces(List<float> forces) to get the forces needed to counteract any previously applied forces in generalized space. This only works with forces that you've added yourself with methods like ArticulationBody.AddForce or ArticulationBody.AddTorque. Keep in mind that order of execution is very important. You want to make sure that all your forces are added first and only then you call the above External Forces getter. Otherwise, you may get either no forces returned or an incomplete set of forces.

ID External Forces Demo