Shortest distance

[quangkhieu]

Hello,

How can I find position of point on shape's bounding that has shorstest distance to robot's reference frame?
Actually, I want to create a tagent vector , are there other ways to find this?

Thanks!

[coppelia]

You can use sim.checkDistance(shapeHandle, dummyHandle), where dummyHandle is the handle of a dummy object located at the robot's reference frame.

Cheers

[quangkhieu]

It works, thanks!!