[ODE] Vector in world coordinates

[Klaus Backert]

Am 13.03.2007 um 20:12 schrieb Lewis Foster:

> I'm trying to sort some collision detection out and i'm struggling  
> with converting things from local coordinates to world coordinates.  
> I'm a bit new to this sort of thing.
>
> Basically if something had the local coords:
>
> object[0] = 0.5f;
> object[1] = 0.5f;
> object[2] = 0.5f;
>
> How could i convert to world coordinates. I'm guessing its  
> something to do with final_posr->R and final_posr->pos as well as  
> the functions similar to:
>
> DECL dMULTIPLY0_331(TA *A, const TB *B, const TC *C)  
> { dMULTIPLYOP0_331(A,=,B,C); }
>
> I'm just struggling to get my head round it, the above function  
> just looks like a foreign language to me, if anyone could explain  
> i'd be really greatful!
>
> Thanks,
>
> Lewis

Could this function

void dBodyVectorToWorld (dBodyID, dReal px, dReal py, dReal pz,  
dVector3 result);

be what you need?

Cheers
Klaus