Re: [simspark-devel] ODE Composite bodies

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

/*"Sander van Dijk" <sgv...@gm...>*/ wrote on 02/15/2008 07:30:43 PM:
> Hi,
Hi
>
> Thanks. Don't know how I could have sent it out with such a blatant 
> error ;-)
:)

> I have continued working on it and made it possible to attach multiple 
> masses that can be translated and rotated to a single body. Using that 
> I changed the soccerbot such that the torso + head now consist of a 
> single body, as well as the lower arm + hand. Now all joint stops and 
> fixed joints are gone. This seems to have a great effect on stability: 
> I can run 3vs3 games pretty stably. LCP errors still sometimes occur, 
> when a faulty agent performs some weird behavior, however normal 
> behavior and even piles of 3 or 4 agents have not produced any LCP 
> errors on my system yet.
Great! It should have a significant effect on speed too. (In fact, the 
stability comes from the server speedup I think). According to ODE docs, 
fixed joints have the greatest effect on the performance of ODE.

> However, on at least one of our systems, the server crashes with the 
> ODE message that mass should be centered at the body's center. If 
> anybody can test it to see if this occurs on other systems too it 
> would be great. Also, the behavior of an agent with the new body 
> should still be the same.
Yes, it crashes on my system too. :(

>
> ...
> Let me know the results. If it looks alright I'll also put it on the 
> 3d server mailing list.
>
> Maybe it's a good idea then to put all patches that are out now in one 
> big patch? Or apply them into the CVS repository?
When ready, I think it's better to apply them to CVS.

Thanks,
Hedayat

>
> Looking forward to your replies!
>
> Cheers,
>
> Sander