[ODE] Collision Detection

[Gene Ruebsamen]

> -----Original Message-----
> From: ode-admin@q12.org [mailto:ode-admin@q12.org]On Behalf Of Hamid
> Chitsaz
> Sent: Thursday, February 21, 2002 3:49 PM
> To: ode@q12.org
> Subject: [ODE] Collision Detection
>
>
> Hello Russ
>
>
>    Great work! I love your work very much.
>
> I have 3 questions:
>
> 1. I want to use a free dynamics engine for simulating a biped humanoid
> robot in a real environment such as an office or a room, for
> robotics motion planning purposes. Which engine do you recommend? I have 3
> choices in mind: ODE, DynaMechs, and Brian Mirtich's.

Check out my previous posts on my biped example. Also, you can check out my
source, hopefully it will help you out:  http://www.realtyroad.com/gene/

I think ODE will work fine for you, as long as you keep the stepsize fairly
low (0.01 or less), otherwise you may have some stability problems.

The biggest problem you will have, I suspect, is getting the humanoid to
respond the way you want (ie setting the motors properly in all the joints).

> 2. I noticed in the ODE examples, specially in the boxes chain, that the
> boxes collide into eachother without being detected. This is really a
> drawback for ODE. I wanted to know whether this is a grave problem or not,
> and also whether you are going to fix it in a near future or not.

Not sure what example you are talking about; however, the collision
detection in my humanoid seems to be working fine.  Just make sure the step
size is small enough (see above).

> 3. In regard to question 2, is the ODE collision detection module easily
> replaceable by other collision detection libraries such as PQP?

Not sure.. I haven't tried any other collision detection library; however,
as I said earlier, the collision detection in ODE seems to be more than
sufficient to build a humanoid.

Hope this helps!

>
> Thank you very much
>
>
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