[ODE] Using transforms with dynamic bodies
loth at users.sourceforge.net
Thu Jul 18 13:11:01 2002
> Hello ode,
> I am new in it.
> How can I attach two geometry objects to the same body object and set
> their positions with respect to each other?
You can use the dGeomAttach (geom, body) function to attach them; it
doesn't matter how many you add. However, once it is attached to a body
the rotation and position are set to the body's parameters here, so you
can't just use a bare geometry. You have to use dGeomTransform, which
is at section 9.2.6 of the manual.
> I would very appresiate a few line example, or any explanation.
Sure. If your original geometry is "geom", your body "body", your space
dGeomID transform = dCreateGeomTransform (space);
dGeomTransformSetGeom (transform, geom);
dGeomTransformSetCleanup (transform, ownsthis); /* The value of
"ownsthis" depends upon whether you want "geom" deleted when you delete
dGeomSetBody (transform, body); /* Don't set "geom" to the body */
/* Now set the transforms on "geom". Not on "transform", as it's
matching the body position. */