in the last few days I had the time to analyse the tmd-file syntax a bit . Now I have some questions, maybe someone could help me.
First of all, maybe a dumb question but in the rigidbody definition you have the position R0
<[tmvector3d][InertiaLength][ 25.0 3.8 3.8 ]>
<[tmvector3d][R0][-2.0 0.0 -1.2]>
<[tmmatrix3d][B0][1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0]>
<[tmvector3d][C0][1.3 5.838 -2.72]>
<[tmmatrix3d][Inertia][34.959270 0.000000 0.000000 0.000000 4.370571 0.000000 0.000000 0.000000 39.174112]>
I understood the rigidbody as a box that is connected to the graphic representation and interacts with the environment. Which position of the box does the position R0 refer to (the center?) ?
My second question is, to connect two rigidbodies you can use jointlinear and multibody_joint what is the difference between these two variants?
Thanks in advance!