[ODE] rotation matrices

Jason Mallios jmallios at cs.brown.edu
Sat Oct 15 18:48:37 MST 2005

If you always know the desired relative position of the points to the 
body, then dBodyGetRelPointPos will accomplish this.  See the docs, 
section 6.4.

On Fri, 14 Oct 2005, Floris van Breugel wrote:

> Hi,
> I'm trying to attach a system of points (specifically not ODE constructs) to 
> an ODE body by means of updating the system's position at each time such that 
> any changes in position of the ODE body cause the system to move accordingly. 
> In order to completely constrain the system I also need to update its 
> rotation relative to the ODE body such that it appears to be fully 
> 'attached'. I was wondering what the easiest way would be to update the 
> position of these points so they stay the same relative the ODE body. I've 
> tried using the angular velocity of the body to calculate necessary 
> velocities for the points, but could not get that too work. Is there an easy 
> way of using the rotation matrices to accomplish this?
> Thanks,
> - Floris
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