Webots Reference Manual - chapter 6 - section 5

Webots Reference Manual


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 constructODE 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.

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