[ODE] Origin of Composite
czb182 at hotmail.com
Tue Aug 8 17:11:59 MST 2006
Hello, I'm currently trying to build a vehicle of various geoms, and assign
an arbitrary center. The reason
being is that I want to place other objects with respect to that center.
>From what I'm reading, dBodyGetPosition returns center of mass as origin.
Well, I'm trying not to worry about mass distribution just yet, but is it
necessary to just the point of reference?
I built the vehicle with a single box as the body and tried using
geomTransform, but getbodyposition still returns the same value. Here is
/ /insert code here to create body and set position
m_geom_transform[i] = dCreateGeomTransform (m_local_space);
m_carg[i] = dCreateBox (0, m_robot_width, (m_robot_height),
dGeomSetPosition(m_carg[i], 0, 0.56, -0.66);//translation numbers to move
point of reference
dGeomSetBody (m_geom_transform[i], m_carb[i]);
How can I have it so that i create a geom and body, and have the actual
object be where my dbodysetposition set it too, but when I do a
dBodyGetPosition I get values that are transformed by some amount that i set
. So basically, if I created an object, moved it up 1 unit, then i want to
adjust point of reference by -0.5. So now if I did a dBodyGetPosition, it
would return 0,0,-.5 instead of 0,0,0 because the point of reference is now
behind origin of world, but the actual object would still be centered at the
origin. I thought that was what geom transform were, but maybe I'm just
using them wrong.
Any ideas or suggestions?
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