Capsules limited to Z-axis

[Gideon Klompje]

Hi,

I'm working on a piece of code that constructs ragdolls from Panda3D models using some of ODE's primitive shapes.  The algorithm works well when using spheres and boxes, but I'm running into some trouble with capsules due to the fact that Blender/Chicken/Panda3D align bones along the +Y axis, but capsules are limited to the +Z axis.

I'm trying to avoid having to translate each body associated with a capsule shape in my physics simulation's coordinates at every frame for rendering.

I'd be happy to attempt to add variable axis support to the capsule class, but since I have no experience in collision detection, deciphering the algorithms is a bit of a daunting task.  Anyone out there prepared to give me some advice or help me update the capsule class?

Thanks,

Gideon K.

[Bram Stolk]

You do not need to 'translate each body associated with a capsule

shape in my physics simulation's coordinates at every frame for

rendering.'
You can use a fire-and-forget setting with dGeomSetOffsetQuaternion()

dQuaternion q;
dQFromAxisAndAngle( q, 1, 0, 0, 0.5 * M_PI );
dGeomSetOffsetQuaternion( geoms[ i ] , q );

Now, your body in OpenDE and your object in your application have the
same notion of orientation when it comes to the capsule.

[Gideon Klompje]

Thanks for the reply.  I read about setting geom offsets some while back, but forgot about them while the wiki was down and I was hacking away in the dark :)

I'll give it a shot...

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