[ODE] A question about multiple geoms for one body

Shamyl Zakariya shamyl at zakariya.net
Wed Feb 28 12:12:40 MST 2007

Should I be using dGeomSetOffsetPosition and its friends?

I never knew about those methods since I've always used <http:// 
ode.org/ode-latest-userguide.html> for documentation, I didn't know  
about offsets until I found it on the wiki.

shamyl at zakariya.net
     "the electrodes of progress on the nipples of ignorance"
         -- Dr. Rick Solomon

On Feb 28, 2007, at 11:23 AM, Shamyl Zakariya wrote:

> I've been using ODE for a few years, but I'm embarrassed to say that
> I've never gone beyond the one-geom-one-body approach. I'm interested
> in giving a stab at having multiple geoms attached to a single body,
> for rigid but complex kinematic bodies.
> So, I have a few questions.
> 1) If it's really as easy as people on the mailing list describe it,
> can I really just add multiple geoms to one body? So, can I just call
> dGeomSetBody on multiple geoms to a single body?
> 2) How do I represent the geom's local transformation relative to the
> body? Is this where dGeomTransform comes in? Or is it a separate
> mechanism?
> 3) Once this is done, and the simulation is running, I obviously
> can't just call dBodyGetPosition or dBodyGetRotation; I'll have to
> get the geom's local position/rotation and combine that with the
> body's position and rotation. Is there an automatic way to do this?
> Will calling dGeomGetPosition and dGeomGetRotation have this taken
> care of already?
> Thanks,
> Shamyl Zakariya
> 	"there is no emoticon, for what I am feeling"
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