[ODE] Tri-collider, again...

[Bob Ives]

Its probably completely unrelated to your crash, but I´ve also just got the dTriList contribution working with our own app following
that post, and thought I´d comment one fix I made.


I had problems with a sphere passing through the intersection of 2 cubes sharing an edge, and generally with double sided polygons
( faces sharing vertices with opposing face normals ).  Here's a suggested way of filtering the bad contacts ..

in dTriList_Sphere.cpp, line 338, replace:

    Depth = dcMIN(Depth, dReal(dDOTD(Plane, PositionD) - Plane[3] + double(Radius)));

with

    dReal AltDepth = dReal(dDOTD(Plane, PositionD) - Plane[3] + double(Radius));
    if( AltDepth > Radius ){
        continue;
    }
    Depth = dcMIN( Depth, AltDepth );


Alternatively  I think you can get the same result by defining PLANECENTERCULL instead ( at the cost of slightly more conputation ).

Thanks a lot to those involved in providing this contribution, I have tri-colliding up and running well with really very little
work.
Bob


----- Original Message -----
From: "Mark Eastgate" <mark_eastgate@hotmail.com>
To: <ode@q12.org>
Sent: Thursday, April 03, 2003 9:03 AM
Subject: [ODE] Tri-collider, again...


Hi Guys,

I'm new to ODE and have just got the tri-collider demos working (based on
gl's post http://q12.org/pipermail/ode/2003-January/002744.html - thanks for
that!)

Everything works perfectly, bouncing bunnies, shapes etc., however in
test_moving_trilist.cpp I tried changing a few parameters, most of which
worked fine but this one caused a crash on the first bounce of  my bunny.

change:
dGeomSetPosition(TriList, 0, 0, 0.9);
to
dGeomSetPosition(TriList, 0, 0, 2.9);

Thought you may be interested.

BTW Thanks to everyone who has contributed to this project.

Cheers
Mark


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