Re: [Libnifalcon-devel] More info on the H3D/HAPI driver

[Kyle M. (qDot) <ky...@no...>]

Stephen Sinclair wrote:
> I think fixing the centering is probably a good idea.  As for units,
> meters is usually a good choice.  From my perspective it doesn't
> really matter all that much, as long as it stays consistent.  So the
> thing to do is make a decision on it and change it _now_, since the
> library isn't too widely used yet.  It's not something you're going to
> want to deal with in the future.
>   
Ok, meters it is, then. This changeover is happening in the unit-change 
branch of the git repository. So far, I've changed the units and the 
cube_test example in falcon_test_cli, though now the question of forces 
comes up. I'm honestly not sure what units we'd been sending the 
kinematics setForces function so far, as I'd never really done any tests 
with it outside of simple proportional loops. Now is probably a good 
time for me to sit down, document, and actually understand whats 
happening in those classes. I'll probably also go ahead and implement a 
pregenerated header based lookup table to save us on the kinematics 
initialization time (on platforms where -ffast-math doesn't make that 
trivial).

Kyle