[ODE] 2D boxes

Geoff Carlton gcarlton at iinet.net.au
Fri Sep 15 01:05:48 MST 2006

Sorry, scrub that.  It was because the boxes were created with a very 
short z-length, so it was the shortest distance.


Geoff Carlton wrote:
> Hi,
> Anyone got 2D boxes working properly?  They have a tendancy to spin in 
> all axes.  I've been playing around with the joint2D's correcting 
> (wx,wy) angular velocity code, but I noticed the crux of the issue is 
> the box-box contact generation.
> Collide two boxes that are overlapped, and the result can come back with 
> a set of contacts all pointing in the +Z direction.  The boxes were 
> sitting on the z-plane with a correct 2D orientation.  This was clearly 
> not the shortest "out" direction, but I'm not familiar with the box-box 
> contact generation code so stepping through didn't illuminate the matter 
> much.  Has somebody got expertise on the algorithm?
> A bit of a hack is, if the normal is +-Z, scrub it and put in the geom 
> pair's (pos2-pos1) as a replacement.  If I don't find a solution I can 
> always use that, although it would be nicer to fix the underlying issue 
> instead.
> Thanks,
> Geoff
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