Re: [osg-users] Invert scene graph

Hi Robert, thanks a lot for your reply and sorry for my late answer. You were completely right regarding the seg faults: I was not careful enough but now the problem seems to be solved. Nevertheless, I was more wondering what the best way to switch from a forward to an inverse kinematic chain

Re: [osg-users] Invert scene graph

Dear all, I'm still struggling with this problem. I've tried a few new things but the result is not satisfactory: - I tried to do a dynamic re-parenting by changing the scene graph after each connection and disconnection but the script tends to become unstable after a while (segfault errors).

Re: [osg-users] Invert scene graph

Hi Stéphane, I think if you invert the matrices when you are doing backward kinematics, you can keep the same scenegraph structure. For example, when the end effector is attached, you have the transform from P3 to P2 but you have P2 ipo P2, so the inverse of the transform you have is

[osg-users] Invert scene graph

Dear OSG users, I've been using OSG since quite some time now but I'm facing a problem for which I was not able to find a good solution. I both searched on the forum and googled my problem but with no luck so far. Since my overall setup is a bit complicated, I'm going to use here a