[ODE] TriMesh/Box Problem

[Chroma]

C> Maybe this information could help someone find a bug in the
C> box/trimesh collision code.
C> I have a ground made with 1 huge box geom when i drop a trimesh on it
C> everything works fine if the box (ground) is smaller than the trimesh.
C> In my test i drop a torus 6x6 on a box 5.9x5.9 and it works as
C> expected but if i drop it on a box 6x6 or more it goes to space.

C> So from my observations trimesh vs box works as long as the trimesh is
C> larger than the box.

C> There is no problem with spheres of all sizes.

To illustrate the problem i did a little video with the ODEEd testbed.
http://www.clancommunity.com/chroma/TrimeshBoxBug.avi
On the video u can see 4 blue boxes, the two on the left are made with
many small box geoms and the two on the right are just made of 1 box
geom each.
Then i drop a torus and a 4x4 mesh (both trimesh geoms) on the 4 blue
boxes.
As u can see in the video, everything works great on the blue boxes
made of small boxes. but it goes crazy on the single box geom objects.

Anyone has a clue of what is going on ?


Christophe