[SOLVED] ArticulatedSystemMapping: Asking for help to understand the example scene

[Noura]

Hello,

I have a question concerning the “ArticulatedSystemMapping” scene in “examples/Components/mapping” directory.
In both “collision” and “visu” nodes, the positions for the mechanical object and the Ogl model are defined by (4*8 = 32) 3D points which I guess should be the 3D coordinates of 4 cuboids centered at the five rigid frames defined before.
I noticed that the coordinates of the first cuboid are repeated 4 times
“-1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5”
As a result, the collision detection is not detected properly, and the 4 cuboids are superimposed in the scene view. Have I misunderstood the scene? or is it a small bug and the accurate coordinates have to be redefined ?

Thanks,
Noura

[Noura]

The simulation seems to run fine now after a slight change in the RigidMapping as the follwing:

Replacing

<RigidMapping rigidIndexPerPoint="0 8 8 8 8" />
by:

<RigidMapping template=”Rigid3d,Vec3d” name=”rigidMap1″ rigidIndexPerPoint=”1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4″ />

and

<RigidMapping template="Rigid3d,ExtVec3f" rigidIndexPerPoint="0 8 8 8 8" input="@.." output="@Visual" />
by:

<RigidMapping template=”Rigid3d,ExtVec3f” name=”rigidMap2″ rigidIndexPerPoint=”1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4″ />

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