Re: [simspark-devel] [Sserver-three-d] Fw: [sserver-commits] CVS:rcsoccersim/rcssserver3D/lib/oxygen/physicsserverspace.cpp, 1

[Markus R. <rol...@un...>]

Hi,

Joschka wrote:
[...]
>
> Just another question on this: if some parts of Nao are completely
> enclosed in others, wouldn't it be a solution just not to add
> colliders for these bodies? Or does ODE not allow this (don't remember

Feng Xue wrote:
>     Great idea! I was somehow blind with this great feature of ODE!
>     I will change the code ASAP.

the point is that ODE bodies and geoms are two separate concepts. ODE
simulates the movement of bodies given the sum of forces that act upon
any given body during each step.

A collider (geom in ODE terms) is used to detect a collision. This
collision is then resolved (i.e. the two colliding bodies are pushed
apart) with some force.

If you don't assign a collider to a body, there will never act a force
upon it (apart from forces that are added from within the program
through effectors or similar).

cheers,
Markus