Re: [simspark-devel] ODE Composite bodies

[Hedayat V. <hed...@ai...>]

Hi,
It is interesting to see some activities here! :)
Thanks for your patch. I've tried your patch and I found a little 
problem in soccerbottorso057.rsg

This line:
(setBoxLengths pperLenX $upperLenY $upperLenZ)
should be:
(setBoxLengths $upperLenX $upperLenY $upperLenZ)

Good luck,
Hedayat

/*"Sander van Dijk" <sgv...@gm...>*/ wrote on 02/07/2008 02:07:00 AM:
> Hi,
>
> I've got it to works now. In the attached archive is a working patch 
> plus a soccerbot that has a composite body torso (with a somewhat 
> skewed mass distribution). It took some time to get translated and 
> rotated geometries in the right place, but that seems fine now. As 
> long as a Collider node uses the new setLocalPosition to set the 
> position relative to its body's center.
>
> As you also pointed out, the mass distribution of composite bodies 
> still should be sorted out.
>
> Now for the bad news: the 'thigh slapping' LCP erors that I mentioned 
> in my first email still happen.. It seems it weren't the joint stops 
> causing the excessive forces after all. My next bet is that it is 
> caused by the sharp edge of the hand hitting the angled part of the 
> torso's lower part too hard, which I think is only preventable by 
> reducing motor force.
>
> Sander
>
> PS when I run the simulation with this patch, ball and players don't 
> collide with the goals anymore. This is due to collider.cpp in the 
> simspark cvs where the use of a default collision handler is commented 
> out.
>