[ODE] complex geometries

[Christian Verbeek]

thanks for the code to combing multiple geoms. but i have some other problems 
now. the body constisting of multiple geoms seems to be inactive somehow. the 
position of its center of mass is fixed at (0,0,0). even a dSetBodyPosition 
does not change anything.

thats what i do:
i have 3 geoms, that should be combine and attached to F4_body

//number of geoms
F4_numObjects=3;
//buffer for geoms
F4_geoms=new dGeomID[F4_numObjects];
//buffer for masses
F4_masses=new dMass[F4_numObjects];
//fill the masses buffer
dMassSetBox 
(&F4_masses[0],DENSITY,baseplate_sizex,baseplate_sizey,baseplate_sizez);
    dMassAdjust (&F4_masses[0],baseplate_mass);
    dMassSetBox 
(&F4_masses[1],DENSITY,bar_front_right_vertical_sizex,bar_front_right_vertical_sizey,bar_front_right_vertical_sizez);
    dMassAdjust (&F4_masses[1],bar_front_right_vertical_mass);
    dMassSetBox 
(&F4_masses[2],DENSITY,bar_front_left_vertical_sizex,bar_front_left_vertical_sizey,bar_front_left_vertical_sizez);
    dMassAdjust (&F4_masses[2],bar_front_left_vertical_mass);

//buffer for positions
    F4_positions=new dVector3[F4_numObjects];
//fill the positions buffer
    F4_positions[0][0]=baseplate_posx;
    F4_positions[0][1]=baseplate_posy;
    F4_positions[0][2]=baseplate_posz;
    F4_positions[1][0]=bar_front_right_vertical_posx;
    F4_positions[1][1]=bar_front_right_vertical_posy;
    F4_positions[1][2]=bar_front_right_vertical_posz;
    F4_positions[2][0]=bar_front_left_vertical_posx;
    F4_positions[2][1]=bar_front_left_vertical_posy;
    F4_positions[2][2]=bar_front_left_vertical_posz;

//buffer for rotations
    F4_rotations=new dMatrix3[F4_numObjects];
//fill the rotations buffer
    for(int i=0;i<F4_numObjects;i++) dRSetIdentity(F4_rotations[i]);

//create the body
F4_body = dBodyCreate (*world);
//create the geoms
F4_geoms[0]  = dCreateBox (0,baseplate_sizex,baseplate_sizey,baseplate_sizez);
F4_geoms[1]  = dCreateBox
(0,bar_front_right_vertical_sizex,bar_front_right_vertical_sizey,bar_front_right_vertical_sizez);
F4_geoms[2]  = dCreateBox 
(0,bar_front_left_vertical_sizex,bar_front_left_vertical_sizey,bar_front_left_vertical_sizez);

//marks function    
compoundGeom(F4_body,0,F4_numObjects,F4_geoms,F4_masses,F4_positions,F4_rotations);

//change the position of the body, nothing happens!!!!!!!!!!!!!!!!!!!
dBodySetPosition(F4_body,0,0,10);

any suggestions?

c.

Am Mittwoch, 12. März 2003 20:33 schrieb skjold@cistron.nl:
> A minor correction to the code in my previous post:
>
> The variable name lSimpleSpaceID is used inside the first for-loop. It
> should actually be lSpaceID, which is declared just above that loop.
> Alternatively, if you don't want to put the geom into a new space anyway,
> you can just replace it with aSpaceID.
>
> Greets,
> Mark
> _______________________________________________
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> ODE@q12.org
> http://q12.org/mailman/listinfo/ode

-- 
-__________________________________________
Dr. rer. nat. Dipl.-Phys. C. Verbeek
email: christian.verbeek@ais.fraunhofer.de
room: C2-214
http://www.ais.fraunhofer.de/~verbeek
phone: +49 2241 14 2057
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