Composite object vs. tri-mesh question
Brett Hemes <[email protected]> Wed, 14 Nov 2007 12:04:08 -0600
| Newsgroups | gmane.comp.lib.ode |
|---|---|
| Message-ID | <[email protected]> |
--===============2028338085== Content-Type: multipart/alternative; boundary=Apple-Mail-8--139600168 --Apple-Mail-8--139600168 Content-Transfer-Encoding: 7bit Content-Type: text/plain; charset=US-ASCII; delsp=yes; format=flowed Hello, I am learning ODE for use in robotics simulations for research and have a couple of questions regarding geoms and collisions. I have to represent a trapezoidal prism-shaped mobile robot that can rotate on all three of its axes. I recall reading somewhere that dynamic tri- meshs are less desirable than composite objects made from primitives. If I try and build a nice trapezoidal prism from boxes however, I have geometries that share surfaces that commonly collide with other geoms (another thing I read is bad). Is there any generally accepted answer for this problem? I am currently using the composite object approach and have yet to see any stability problems in version 0.9 with double precision but I would like to know if this is a hack. Additionally, is it common/possible to have geoms in different spaces attached to the same body where one space is used for collision detection and the other for drawing the output? Thanks, Brett --Apple-Mail-8--139600168 Content-Transfer-Encoding: quoted-printable Content-Type: text/html; charset=ISO-8859-1 <HTML><BODY style=3D"word-wrap: break-word; -khtml-nbsp-mode: space; = -khtml-line-break: after-white-space; "><DIV>Hello,</DIV><DIV><BR = class=3D"khtml-block-placeholder"></DIV><DIV>I am learning ODE for use = in robotics simulations for research and have a couple of questions = regarding geoms and collisions.=A0 I have to represent a trapezoidal = prism-shaped mobile robot that can rotate on all three of its axes.=A0 I = recall reading somewhere that dynamic tri-meshs are less desirable than = composite objects made from primitives.=A0 If I try and build a nice = trapezoidal prism from boxes however, I have geometries that share = surfaces that commonly collide with other geoms (another thing I read is = bad).=A0 Is there any generally accepted answer for this problem?=A0 I = am currently using the composite object approach and have yet to see any = stability problems in version 0.9 with double precision but I would like = to know if this is a hack.</DIV><DIV><BR = class=3D"khtml-block-placeholder"></DIV><DIV>Additionally, is it = common/possible to have geoms in different spaces attached to the same = body where one space is used for collision detection and the other for = drawing the output?</DIV><DIV><BR = class=3D"khtml-block-placeholder"></DIV><DIV>Thanks,</DIV><DIV>Brett</DIV>= <DIV><DIV><SPAN class=3D"Apple-style-span" style=3D"border-collapse: = separate; border-spacing: 0px 0px; color: rgb(0, 0, 0); font-family: = Helvetica; font-size: 12px; font-style: normal; font-variant: normal; = font-weight: normal; letter-spacing: normal; line-height: normal; = text-align: auto; -khtml-text-decorations-in-effect: none; text-indent: = 0px; -apple-text-size-adjust: auto; text-transform: none; orphans: 2; = white-space: normal; widows: 2; word-spacing: 0px; "><DIV><BR = class=3D"khtml-block-placeholder"></DIV><DIV><BR = class=3D"khtml-block-placeholder"></DIV><BR = class=3D"Apple-interchange-newline"></SPAN> = </DIV><BR></DIV></BODY></HTML>= --Apple-Mail-8--139600168-- --===============2028338085== Content-Type: text/plain; charset="us-ascii" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit Content-Disposition: inline _______________________________________________ ODE mailing list [email protected] http://ode.org/mailman/listinfo/ode --===============2028338085==--