#18 Coherence problem

[Anonymous]

dGeomGetQuaternion takes a dGeomID and and a reference on a dQuaternion as parameters. But dBodyGetQuaternion just takes a dBodyID and returns a dReal *.

It could be nice to preserve the coherence here and use the dQuaternion...

What do you think ?

Thanks for your time, ODE works just fine =)

[Nobody/Anonymous]

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[Daniel K. O.]

Geoms don't have quaternions, only matrices; quaternions are useful for computing dynamics, while matrices are faster for transforming between local and world coordinates. When you call dGeomGetQuaternion it computes a quaternion on the fly (or copies from the attached body).