[ODE] Composite Body - Center of Mass
achaudhry at ariworld.com
Wed Aug 16 03:20:32 MST 2006
While working on composite bodies, i was earlier suggested I use
dGeomSetOffsetPosition for adding geoms to a single body(tower). I tried
creating a simple tower structure with 4 legs and cnnecting rods.
the structure looked fine (in the visual world) , but while just checking the
position of the tower, i used dBodyGetPosition(tower) and displayed t at every
simulation step. I observed that while the structure was stable but the
(x,y,z) coordinates of the tower body was changing continuously. And also the
values were extremely large.
1. why are the values so large of dBodyGetPosition(tower) , which is a
2. I tried connecting wheels to this body and the joint wont cnnect saying
joint and bodies must be of the same world. I checked a lot, but couldnt find
the problem, both the joint and the bodies were created in the same world.
any suggestions on this one?
3. Can the body and the wheels of a buggy be made a composite body, if yes
then will the wheels stil be able to rotate .
thanking in advance
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