Set UpVector as -Z

[Giri Mugundan]

Hello,

I am trying to simulate an NED frame. If I were to override the hard coded values for Z or Y as the "upvector" where do I need to make the changes?

Please help me out. Thank you.

Sincerely,

Giri

[Radu Serban]

Hi Giri,

 

Please provide more details on what it is that you are trying to do and what “hardcoded” values for the Y and Z axes you are talking about (is that in the physics simulation, in the runtime visualization, or something else?)

As far as I can tell, you want is to have the gravity acting along the “Down” direction of a NED frame. In that case you will want to set the Chrono value of the gravitational acceleration (always assumed to be fixed in the absolute frame) to zero and include gravity forces using a custom force loader (as gravity will change direction relative to the absolute, ECEF frame).

 

--Radu

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[Giri Mugundan]

Hello Dr.Radu,

I was trying to have the NED frame simulated in  the visualization. I have set the gravity vector as (0.0,0.0,-9.8) as I need it to be.

 I figured out how to set the visualization the way I wanted it to be. I am sorry I wasn't as clear before. Here are the changes I made to have the visualization flip around the way I wanted it to be.

In line 525 of ChIrrCamera.cpp:

rotX = (f32)vec2d.getAngle() + (f32)180; // --> Added 180deg in X-rotation to flip the camera from Z up to -Z up

and this worked out for me.

Thank you for your help.

Sincerely,

Giri