[ODE] Heightfield2

[Geoff Carlton]

Ok, its a problem in the test code, not geom offsets.  It is drawing the 
cylinder at the body's orientation rather than the geom's.

Replace this:
  const dReal *CPos = dBodyGetPosition(cylbody);
  const dReal *CRot = dBodyGetRotation(cylbody);
With this:
  const dReal *CPos = dGeomGetPosition(cylgeom);
  const dReal *CRot = dGeomGetRotation(cylgeom);

Seems to work fine apart from that, so I checked in that change, with an 
ifdef to add the geom offset rotation.  Other tests may have the same 
problem, so be aware of it if you are experimenting with offsets.

Thanks,
Geoff

LR wrote:
> 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.
>>>
>>>
>>>
>>>
>>> _______________________________________________
>>> ODE mailing list
>>> ODE at q12.org
>>> http://q12.org/mailman/listinfo/ode
>>>
>>>
>>>
>>>     
>>>       
>>
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>>     
>
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