[ODE] How to shift the center of mass of a Geom using Transform Object - Some questions

[PKS123]

Hi Raymond

Looked at the boxstack example and implemented the same in my code.
And guess what, it works perfectly.
Thanks a lot man.

Regards
Prashant


Raymond de Vries-2 wrote:
> 
> Hi
> 
> Look at the boxstack example for dGeomSetOffsetPosition() and 
> dGeomSetOffsetRotation().
> 
> regards,
> Raymond
> 
> 
> PKS123 wrote:
>> Could you give me an example of a geom-offset function.
>> I have ODE 0.8 and I went through its documentation, but couldn't find
>> the
>> geom-offset functions you talked about. If you can tell me one of the
>> geom-offset functions, I should be able to look at the ODE source and
>> figure
>> out the rest.
>>
>> Thanks and Regards
>> PKS123
>>
>>
>> Jon Watte (ODE) wrote:
>>   
>>> You can either use the geom-offset functions, which are new in ODE 0.8, 
>>> or you can use the GeomTransform geom, which has existed since the dawn 
>>> of time.
>>>
>>> Cheers,
>>>
>>>           / h+
>>>
>>>
>>> PKS123 wrote:
>>>     
>>>> But, doesn't the ODE Engine itself place the Geom at the body's
>>>> position
>>>> and
>>>> visa-vis on its own.
>>>> That is, if i place a body at (x,y,z) using dBodySetPosition()
>>>> function,
>>>> doesn't the geom get placed at (x,y,z) autometically. Thats what the
>>>> documentation says. So, how can i offset the Geom position with respect
>>>> to
>>>> the body??
>>>>
>>>> Thanks and Regards
>>>> PKS123
>>>>
>>>>
>>>> Jon Watte (ODE) wrote:
>>>>   
>>>>       
>>>>> Actually, as of ODE 0.8, there is a simpler way: you can set the
>>>>> offset 
>>>>> of each geom instead. So to lower the center of mass, just raise each
>>>>> of 
>>>>> the geoms. The center of the body and the center of the mass is always 
>>>>> the same thing in ODE -- the "offset" part of the mass is ignored.
>>>>>
>>>>> If you want a sample for how to use geom transforms (the old way),
>>>>> check 
>>>>> out the RayCar sample: http://www.mindcontrol.org/~hplus/raycar/
>>>>> The bold links are downloadable.
>>>>>
>>>>> Cheers,
>>>>>
>>>>>              / h+
>>>>>
>>>>>
>>>>> PKS123 wrote:
>>>>>     
>>>>>         
>>>>>> I know that this is a hackneyed question and there are posts which
>>>>>> give
>>>>>> the
>>>>>> answers, but none of them give the answer to my satisfaction. So,
>>>>>> i'll
>>>>>> ask
>>>>>> again.
>>>>>>
>>>>>> My question is how do I lower the center of mass of a ODE Body. The
>>>>>> answer
>>>>>> that I know of is, "by using the ODE transform object". But I have
>>>>>> some
>>>>>> further questions about it.
>>>>>>
>>>>>> 1. The Transform object claims to change the point of reference of a
>>>>>> body.
>>>>>> Do point of reference and center of mass mean the same thing in ODE?
>>>>>>
>>>>>> 2. Is there any example anywhere of how to use the Transform Object.
>>>>>> Its
>>>>>> not
>>>>>> there in any of the ODE demos.
>>>>>>
>>>>>> 3. Will the transform object inherit all the geometrical properties
>>>>>> (sides
>>>>>> in case of a box) and behave exactly the same was as a (box) geom
>>>>>> would
>>>>>> have, or is there an unsaid difference of behavior somewhere.
>>>>>>
>>>>>> Thanks and Regards
>>>>>> PKS123
>>>>>>   
>>>>>>       
>>>>>>           
>>>>> _______________________________________________
>>>>> ODE mailing list
>>>>> ODE at ode.org
>>>>> http://mooshika.org/mailman/listinfo/ode
>>>>>
>>>>>
>>>>>     
>>>>>         
>>>>   
>>>>       
>>> _______________________________________________
>>> ODE mailing list
>>> ODE at ode.org
>>> http://ode.org/mailman/listinfo/ode
>>>
>>>
>>>     
>>
>>   
> 
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