Basically each "muscle segment" has two axles (with limited rotation) and axles between segments are joined via prismatic joints (pistons).
LiquidFun supports particle-based soft bodies, and I got those to work, but unfortunately I don't think it supports attaching joints (actuation) to soft bodies. That's ok - rigid bodies and the above segments should be sufficient for reproducing even the results of the biped locomotion paper.
LiquidFun supports particle-based soft bodies, and I got those to work, but unfortunately I don't think it supports attaching joints (actuation) to soft bodies. That's ok - rigid bodies and the above segments should be sufficient for reproducing even the results of the biped locomotion paper.
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