From: Ricardo Kirkner <ricardokirkner@gm...>  20060517 22:00:23

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 halfcylinder 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 halfcylinder, although I think I could manage with the complete cylinder) Regards, Ricardo Kirkner 