[ODE] Heightfield2

[LR]

Hi,

Just take the test_cyl sample and replace the //LR section:

#ifdef CYL
  cylbody = dBodyCreate (world);
  dMassSetSphere (&m,1,RADIUS);
  dMassAdjust (&m,WMASS);
  dBodySetMass (cylbody,&m);
  cylgeom = dCreateCylinder(0, RADIUS, WHEELW);
  dGeomSetBody (cylgeom,cylbody);
  
  //LR
  dMatrix3 mat;
  dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0);
  dGeomSetOffsetRotation(cylgeom,mat);
  //END LR
  
  dSpaceAdd (space, cylgeom);
#endif
 

In this case, cylinder is ejected :)

-----Message d'origine-----
De : Geoff Carlton [mailto:gcarlton at iinet.net.au] 
Envoyé : mardi 19 septembre 2006 02:31
À : LR
Cc : ode at q12.org
Objet : Re: [ODE] Heightfield2

Hi,
If you have any code snippets that illustrate problems with offsets, send
them along and I will have a look at it.

Thanks,
Geoff

LR wrote:
> Another thing curious with the cylinder /plane (and i just look with 
> the trimesh too):
>
>
> Up to the last week, i composed rigid bodies with transformed geoms -> 
> all was ok
>
> Since this week i've replaced transformgeom for offsets then,
>
> -> coliding cylinder/plane when cylinder is up, circle tutching plane
> generate contacts but not forces ...
> -> coliding mesh/plane not generate contacts (or generate contacts but 
> -> not
> forces) ....
>
>  
>  
>
> -----Message d'origine-----
> De : David Walters [mailto:hidden.asbestos at googlemail.com]
> Envoyé : lundi 18 septembre 2006 10:45 À : LR Cc : ode at q12.org Objet : 
> Re: [ODE] Heightfield2
>
> Is it possible for you to try with capsules instead of cylinders? it 
> is possible that there's a bug in the ray / cylinder or plane / cylinder
code.
>
> I have seen this behaviour myself, but not investigated it as I 
> assumed it was the density of my heightfield grid rather than a common 
> problem for all cell edges.
>
> Regards,
> Dave
>
>
>   
>> Hi,
>>
>> I have a curious thing with the heigtfield:
>>
>> A robot with 2 cylinders as whells is running on a flat (it's a test) 
>> heightfield : the robot jumps (shortly, about 10 cm on Z up axis) 
>> when cylinders are about to go from a sub square to another.
>>
>> Reducing the number of square, i can look that it's exactly at the 
>> height squares transition.
>>
>> In fact robot own 2 cylinders as front wheels, and a shpere for the rear.
>> Jumps occurs only on the cylinder witch is about to go from a quare 
>> to the next .... never on the sphere
>>
>> some one know what to do to avoid that ?
>>
>> thank you
>>
>> Laurent.
>>
>>
>>
>>
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>>
>>
>>
>>     
>
>
>
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