[ODE] multiple geoms for single body?

[David Whittaker]

Well, you can call dGeomSetBody with several different geoms, but the same
body.  If you don't want those geoms centered at the same place as the
body, you can use a geom transform object, and set the geom's position and
rotation to the offset from the body's center, then set the geom transform
to the body.  Some good source code that demonstrates this idea is in
test_boxstack.  Search for "else if (cmd == 'x')" to find the area where
several geoms are set to the same body.

Let us know if that's not enough to get you started.
David Whittaker

> I'm still trying to learn ODE's collision detection system, it's pretty
> hard  :-/
>
> I want to know whether it is possible to assign multiple geoms to the
> same  body. If it is possible, can someone give me example code?
>
> I looked at the documents, and it said that if I try to move a geom, it
> will  also move the body. So I don't see how I can move several geoms
> relative to  1 body.
>
>
>
>
>
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