Need to be able to control servo motors in the same ways we can control forces. Specifically, need ability to drive a position servo via more than just the current "time domain".
Example/Justification:
A rocket engine is on a gimbal joint. The rocket is assembled "to a space assembly" via a 6DOF joint. 12 Measures are established that measure the rocket bodys' 6DOF translations and accelerations.When the engine forces are turned on... as are other perturbing forces, the rocket departs from the original 6DOF joint. I need the ability to alter the gimbal positions to compensate for any drift (as measured using those 12 measures) from the intended flight path.
Note: This works just fine if I strip the engines off and use forces at the engine connection points. However, this creates a lot more manual work as I must create and manage another model (without engines), I must create 3 orthogonal force features (x,y,z) for each engine... and 3 drift lookup tables for each force direction. I must then back solve the required engine angles from the x,y and z components of force required at each time step. UGLY.
