brtietz
commented
7 years ago Drew,
Are you sure about this? Last time I tried to build a sensor like this, I found that all of the compounded rigid objects in fact returned the same position! This was because they were all, in fact, calling the getPosition method of the same object, a single compound rigid.
Note: I haven't looked at your code or its output, but I recommend double checking based on past experience.
Brian
On Fri, Feb 3, 2017 at 4:25 PM, Drew Sabelhaus notifications@github.com wrote:
At the moment, tgCompoundRigidSensor outputs the position (X, Y, Z) of a compound body as the average of the coordinates of each component model's center of mass. Since this is NOT normalized by the actual mass of each object, the tgCompoundRigidSensor position location is not necessarily the true center of mass of the compound body!
To-Do: include a normalization in the position calculation that weights each (for example) rod's center of mass by the rod's mass itself. Prove to ourselves that this gives the true COM of the compound.
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At the moment, tgCompoundRigidSensor outputs the position (X, Y, Z) of a compound body as the average of the coordinates of each component model's center of mass. Since this is NOT normalized by the actual mass of each object, the tgCompoundRigidSensor position location is not necessarily the true center of mass of the compound body!
To-Do: include a normalization in the position calculation that weights each (for example) rod's center of mass by the rod's mass itself. Prove to ourselves that this gives the true COM of the compound.