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Integrating scene graph (OGRE) and physics engine (ODE)?

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I'm planning on integrating OGRE and ODE in my game/simulation engine. I haven't started any coding yet, just been musing about it today. One thing I don't understand is how positions of objects will be stored. In OGRE the scene nodes have positions relative to their parents, whereas in ODE every body has an absolute position. How can the two coexist/stay synchronized? The only solution that comes to mind is having every object in OGRE be a child of the root node (thus relative position = absolute position) and manually update the OGRE position for every ODE timestep. This seems wasteful...is it possible to get OGRE to query ODE for node positions, without having OGRE store the positions independently? Anyone here have experience getting a scene graph and a physics engine to play nice together? -Alex

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You'd have to either rewrite portions of OGRE or make your own custom scene manager to integrate ODE that tightly. Those are both probably a waste of your time. I'd say you're probably better off just updating OGRE node positions from ODE data every frame, it's not really that wasteful.

Check out the ogreode project, it's in the ogreaddons section of the OGRE cvs repository. It handles it this way. There's also projects that integrate OGRE with Novodex and Tokamak, and I'm pretty sure they use this method as well.

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