[ODE] Complex Body Creation

Bram Stolk bram at sara.nl
Fri Aug 11 05:18:38 MST 2006

achaudhry wrote:
> Thanks for your reply, 
> It was really helpfull. I am nw able to create my composite body, comprising
> of various boxes. the problem is that somehow this body is not participating
> in simulation.
>  Even after positioning the body in mid air, above ground plane, gravit forces
> are not acting on it. I have checked gravoty, and its ON. 
> Also on applying force etc to this body doesnt cause any change to it. 

You do run a Step on the same world, that your body is created in?

Did you set the grav accel with WorldSetGravity() ?

Compare your code with test_boxstack, it should work.


> I am not sure if i am doing everything correctly or not. 
> Used the help from wiki . 
> Any help would be gr8. 
> thanks, 
> amber
> From: Bram Stolk <bram at sara.nl>
> To: achaudhry <achaudhry at ariworld.com>
> Cc: ode at q12.org
> Sent: Thu, 10 Aug 2006 11:50:04 +0200
> Subject: Re: [ODE] Complex Body Creation
> achaudhry wrote:
>> hi, 
>> I am trying to create a single object which comprises of 4 boxes attached in a
>> fixed manner. 
>> to create this complex object, i am currently creating seperate boxes and then
>> attaching them using Fixed joints. Is there any other method of creating this
>> complex object? 
>> Also after creation, for changing the orientation etc of the complez ogject, i
>> have to currently change orientation for all individual boxes, is there a way
>> to group these boxes together as one single object and then perform operations
>> on them as a single entity? 
> yes... look at ode/test/test_boxstack.cpp
> What you need to do, is attach multiple geoms to a single body.
> Each geom is transformed by a transformgeom.
> So to make a you object, you would create:
> - 1 body
> - 4 box geoms
> - 4 trf geoms
> This is much better than fixed joints, computes much faster,
> less instability, more conventient to code, etc.
>     Bram
>> Regards, 
>> Amber
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