[ODE] trimesh collision causes crash?

[Fabian Mathews]

right, when my ball comes in contact with my triangle mesh it
A) crashes or B) goes through, this depends on my callback function when 
calling
dSpaceCollide

this is what i have:

#define MAX_CONTACTS 40

void PhysicsMgr::NearCollisionCallback(void *data, dGeomID o1, dGeomID o2)
{
int i;
  // if (o1->body && o2->body) return;

  // exit without doing anything if the two bodies are connected by a joint
  dBodyID b1 = dGeomGetBody(o1);
  dBodyID b2 = dGeomGetBody(o2);
  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;

  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per 
box-box
  for (i=0; i<MAX_CONTACTS; i++)
  {
    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
    contact[i].surface.mu = dInfinity;
    contact[i].surface.mu2 = 0;
    contact[i].surface.bounce = 0.1;
    contact[i].surface.bounce_vel = 0.1;
    contact[i].surface.soft_cfm = 0.01;
  }
  if (int numc = dCollide(o1,o2,MAX_CONTACTS,&contact[0].geom,
			   sizeof(dContact)))
  {

    for (i=0; i<numc; i++)
	{
      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
      dJointAttach (c,b1,b2);
    }
  }
}



extra info if you need it:

my box physics object:
PhysicsObj::PhysicsObj()
{
	dMass m;
	body = dBodyCreate( PhysicsMgr::GetInstance().GetWorld() );

	dBodySetPosition(body, 0, 30, 0);
	dBodySetLinearVel(body, -5.00, 15.0, -5.00);

	dMassSetBox( &m, 5.0, 5, 5, 5 );
	geom = dCreateBox( PhysicsMgr::GetInstance().GetSpace(), 5, 5, 5);

	dBodySetMass( body, &m );
	dGeomSetBody( geom, body );

	SetSpace( PhysicsMgr::GetInstance().GetSpace() );
}

//set space just set the objs to that space

//and the settup for my trimesh:
bool ColTriMesh::Build()
{
	printf("Building collision mesh!\n");
	meshData = dGeomTriMeshDataCreate();

	dVector3* newVerts = new dVector3[noVertices];
	int* newIdxs = new int[noIndices];

	for( int i = 0; i < noIndices; ++i )
	{
		newIdxs[i] = indices[i];
	}

	for( int v = 0; v < noIndices; ++v )
	{
		newVerts[v][0]= positions[v][0];
		newVerts[v][1]= positions[v][1];
		newVerts[v][2]= positions[v][2];

	}

	dGeomTriMeshDataBuildSimple( meshData, (dReal*)newVerts, noVertices,
			    newIdxs, noIndices );

	geom = dCreateTriMesh( PhysicsMgr::GetInstance().GetSpace(), meshData, 0, 
0, 0 );

	return true;
}


Im guessing its something with the call back function as thats where it 
crashes :-/


Thanks from,
Fabian


-------------------------------
Fabian "SupaGu" Mathews

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