[cgkit-user] ode geom

[Ricardo K. <ric...@gm...>]

Hi Matthias:

I have been thinking about the problem that the collision geometry and
the real geometry weren't the same.

I think I need to define my collision geometry exactly as the real
geometry, because this would influence the robots behaviour. I am
trying to simulate the robot in a context where it must learn, and the
real geometry is very important.

I have been looking at the CCylinder objects in cgkit and in pyode (and in =
ode).

I have found out that the new version of ode does provide a Cylinder
class, and I have been playing around with pyode, and managed to
actually built a cylinder out of a CCylinder (pyode doesnt yet have
the Cylinder object).

My question comes when I try to build the same CCylinder in cgkit. I
am not getting the same results, since apparently the cgkit CCylinder
is actually more like a capsule instead of a cylinder.

I attach a sample code (a modification of one of pyode's examples),
where you can see what I mean by cylinder (actually in the example I
provide, only a half-cylinder is rendered, but a full cylinder is the
underlying ode object).

Is it possible to build an object like that one in cgkit? How? (The
absolute best would be the half-cylinder, although I think I could
manage with the complete cylinder)

Regards,

Ricardo Kirkner