6.5 Structure of ODE objects
This table shows how common .wbt constructs are mapped to ODE objects. This information shall be useful for implementing physics plugins.
| Webots construct | ODE construct |
| Solid { physics Physics {...} } | dBodyID |
| Solid { boundingObject ... } | dGeomID |
| Solid { boundingObject Box {...} } | dGeomID (dBoxClass) |
| Solid { boundingObject Sphere {...} } | dGeomID (dSphereClass) |
| Solid { boundingObject Capsule {...} } | dGeomID (dGeomTransformClass + dCapsuleClass) |
| Solid { boundingObject Cylinder {...} } | dGeomID (dGeomTransformClass + dCylinderClass) |
| Solid { boundingObject Plane {...} } | dGeomID (dPlaneClass) |
| Solid { boundingObject IndexedFaceSet {...} } | dGeomID (dTriMeshClass) |
| Solid { boundingObject ElevationGrid {...} } | dGeomID (dHeightfieldClass) |
| Solid { boundingObject Transform {...} } | dGeomID (dGeomTransformClass) |
| Solid { boundingObject Group {...} } | dSpaceID (dSimpleSpaceClass) |
| Servo { type "rotational" } | dJointID (dJointTypeHinge) |
| Servo { type "linear" } | dJointID (dJointTypeSlider) |
Table 6.1: Mapping between common Webots constructs and ODE objects.