How to get the world coordinate of a joint
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I have a few joints that I need to get the coordinates of in the world context. The joints connect a component to the rest of the assembly. In the image, the wheel is connected to a bearing on the other side of the black beam via the revolute joint. The bearing and all other components in the assembly (beams, bearings, brackets) are all in a rigid group.
As far as my understanding, geometryOrOriginOne returns the geometry for the joint that contains the origin in the component context, which is why when I try to get the position of every joint they return the same position.
for (auto& joint : root->allJoints()) {
auto origin = joint->geometryOrOriginOne()->cast<JointGeometry>()->origin();
}
How do I get world coordinates of the joints?