[ODE] Ray as Sensor (Please help)

[Andrzej Szombierski]

On Mon, 30 May 2005, Eugen Lofing wrote:

> Hello!
> 
> I tried to implement a sensor using ODE-ray - it tries to affect the
> objects, that are near to it. 
> 
> It throws away them (the objects) ;-)
> 
> somebody know, how I can disable this affecting? 
> 
> Code: 
[...]

You're probably creating contact joints (although the code you have 
included doesn't confirm it - maybe you're creating them somewhere else?)

> 
> ... and do somebody know, what the parameters do:
> 
> 
> void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
>       dReal dx, dReal dy, dReal dz);
>             ^^        ^^        ^^ 
> 
> Quote: "...direction (dx,dy,dz) of the given ray. The ray's rotation matrix
> will be adjusted so that the local Z-axis is aligned with the direction."
> 
> - I don't understand, what it does mean. Are the parameters (dx,dy,dz)
> really a Rotation-matrix or a 2-nd. point? Because the ray does not

It's not a matrix and not a point :) It's a vector, so if you call 
dGeomRaySet the ray starts at (px,py,pz) and goes through (px+dx,py+dy,pz+dz).

> seem to exist if I set this params to (0,0,0) -> Z-axis-direction ...
> 
Z axis is (0,0,1) as far as I can say.

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