Hinge Constraint Question

[Wenlei_W]

Hi, everyone,

I am now using bullet for a dynamic simulation project for robot. I need to use bullet to simulate some robot actions.
The robot joints(dynamic rigidbody) in my simulation are implemented with hinge constraint. And I have some problem:

1. how can I implement an joint action from angle1 to angle2 ? I have tried to use the setLimit(Angle1,Angle2) and enable the motor. It does work, but is there anyway to realise it without changing the default limit? I have seen the function setMotorTarget, but the joint doesn't stop at the target angle!

2. My hinge constraints are now very relax, even when i lock the constraint with setLimit(0,0). Can anyone tell me how to make it immobile when i want it locked? The collision between two joint bodys are ignored. Is there anyway to set the friction of the joint constraint?

Thank you very much

[miccinov]

Up...i have the same question...any tips? i would grap(pickup) somethings with the arm of robot! thxxxx