Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Since version 0.4 the collision handling was redesigned significantly.
It has the following features:
odeHandle.substance.toRubber(20); // create Primitive with odeHandle Primitive* box = new Box(1,1,1); box->init(odeHandle, ...);would change the substance to a soft rubber. Once you have created a Primitive you can change its properties in the same way:
box.substance.toMetal(0.6);
odeHandle.addIgnoredPair(p1,p2); // and to remove odeHandle.removeIgnoredPair(p1,p2);This mechanism is used internally for primitives that are connected by joints. So in most cases you don't have to worry about that.
odeHandle.createNewSimpleSpace(parentspace,true/false);you can set the flag to true to ignore all internal collisions. Alternatively you can change this for an existing space with:
odeHandle.addIgnoredSpace(spaceID); // and to remove odeHandle.removeIgnoredSpace(spaceID);