Hi there,

here's the illustration of a problem I've got: I'd like to create a wheel-like simulation, i.e. a wheel-like object (a tube with caps) must be able to roll and turn. To keep things simplest I've got the following set-up (RBDState, Set Always): angular velocity, X axis (angvelx) =50 (it makes the wheel push itself, move); angular velocity, Y axis (angvely) =50 - this is to turn left\right (to turn left constantly in this case).

Thus the wheel is supposed to move along a counter-clockwise circle-like trajectory. Instead it turns left and then angvelx starts banking it and barelling along global X axis - so it never moves as supposed, - as if angvelx was applied in global coordinate system.

Is there a way to make angvelx be a applied in localobject coordinate system so that it could move like a barrel around a circus arena?

see the attachment for a simple illustration:

Thanks.