[ODE] Flat Cylinder

[daniel.marbach at epfl.ch]

Hi

I am simulating and evolving modular robots, i.e. robots consisting of many
identical modules that can be stuck together like lego bricks. To model my
module I need a flat cylinders. I found the userguide a little bit confusing on
this point: On p.54 it says that ther is a dCylinderClass but in section 10.7
(geometry classes) it is not included.

Then I found the contributions dCylinder and dCylinder2 but I'm not sure which
one to use. The readme of dCylinder warns that the code is not reliable and for
dCylinder2, the cylinder-cylinder collision has a bug (says the readme, I didn't
test it yet). Should I use dCylinder2? What is the bug?

I'm just curious: Why don't you integrate a flat cylinder in ode? It seems like
a very basic shape (more important than the capped cylinder for example, because
the caps could also be modeled by adding two spheres to a flat cylinder...)

Thanks!

Daniel


PS: I'm currently working on my webpage where I'll put my Picasso framework.
It's drawstuff ported to GLUT, I'll post a message when it's ready.