[ODE] Vector in world coordinates

[Rodrigo Hernandez]

I believe what that does is take the point local position, apply the 
global matrix rotation (the dMULTIPLY0_331 part) and then the global 
translation (the += part), that would give you the "current" world position
for the point.
Spheres and boxes are parametric, so in order to find the world position 
of a point in their surface you must first calculate its global position.

Lewis Foster wrote:
> That sounds like an idea Jon, might give that a go. But in the mean 
> time, the following seems to work (although if anyone could explain 
> why or how, that would be great) :-):
>
> Given the points in the form:
>
> dReal points[]= // points for a cube
>   {
>     0.25f,0.25f,0.25f,  //  point 0
>     -0.25f,0.25f,0.25f, //  point 1
>
>     0.25f,-0.25f,0.25f, //  point 2
>     -0.25f,-0.25f ,0.25f,//  point 3
>
>     0.25f,0.25f,-0.25f, //  point 4
>     -0.25f,0.25f,-0.25f,//  point 5
>
>     0.25f,-0.25f,-0.25f,//  point 6
>     -0.25f,-0.25f,-0.25f,// point 7
>   };
>
> The following seems to work: (taken from test_boxstack and convex.cpp 
> by Rodrigo Hernandez)
>
> j loops through number of points
> dMULTIPLY0_331 (aPoint,cvx2.final_posr->R,cvx2.points+(j*3));
>             aPoint[0]+=cvx2.final_posr->pos[0];
>             aPoint[1]+= cvx2.final_posr->pos[1];
>             aPoint[2]+=cvx2.final_posr->pos[2];
>
>
> I don't get why or how it works though. The code for the macro is 
> below, and seems to make aPoint equal to the dot product of various 
> parts of the rotation matrix of cvx2.final_posr in the direction of 
> each point...I'm getting awfully lost with it.
>
> #define dMULTIPLYOP0_331(A,op,B,C) \
> do { \
>   (A)[0] op dDOT((B),(C)); \
>   (A)[1] op dDOT((B+4),(C)); \
>   (A)[2] op dDOT((B+8),(C)); \
> }
>
>
> Lewis
>
>
>
> On 3/15/07, *Jon Watte (ODE)* < hplus-ode at mindcontrol.org 
> <mailto:hplus-ode at mindcontrol.org>> wrote:
>
>     How about just snarfing the code from the dBody function, and
>     creating a similar dGeom function? Geoms also have orientations
>     (which sometimes are the same as those of bodies).
>
>     Cheers,
>
>               / h+
>
>
>     Lewis Foster wrote:
>>     I dont think i can use that. I'm working on a dCollidexxx
>>     function within a new geom class so only have the two colliding
>>     geoms to work with. So no bodyID can be passed. I presume that
>>     function is for using ODE externally.
>>
>>     Any other ideas anyone?
>>
>>     Thanks,
>>
>>     Lewis
>>
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