[ODE] Trimesh related runtime error

[Tomek Zielinski]

Hi everybody!

Short piece of my code:

#define MAX_CONTACTS 1000
dContactGeom contact_array_helper[MAX_CONTACTS], 
contact_array[MAX_CONTACTS];
unsigned int contact_num;

// there are only a few geoms in my space so ythere is no need to test 
for spaces
void nearCallback(void *data, dGeomID o1, dGeomID o2)
{

         // dwoch statykow nie kolidujemy
//        if(dGeomGetBody(o1)==0 && dGeomGetBody(o2)==0 )
//            return;

         // colliding two non-space geoms, so generate contact points 
between o1 and o2
         int num_contact = dCollide( o1, o2, MAX_CONTACTS, 
contact_array_helper, sizeof(dContactGeom) ); // ODE ERROR

         // add these contact points to the simulation
         for(unsigned int i=0; i<num_contact; i++)
             contact_array[contact_num++] = contact_array_helper[i];
}


...
...

contact_num = 0;
dSpaceCollide( odeSpace, NULL, nearCallback );





I checked my code and I'm almost sure that setup is done properly. But 
when two trimesh-bodies touches(even trimesh with box) i'm getting ODE 
error "invalid operation for geom in locked 
space(ode/src/collision_kernel.cpp:line301). So I checked it and it 
turned out that 'ode/src/collision_kernel.cpp:line301' is inside 
dGeomSetBody. I don't understand why dCollide calls dGeomSetBody - what 
am I doing wrong?


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I've just figured out that ODE itself is calling dGeomSetBody only from 
dBodyDestroy, and dBodyDestroy is called only from dTestDataStructures() 
which seems to be an internl ODE function... So I'm a lot more confused...


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I've just changed triMeshes into planes and boxes a
and now that error is gone and contact points are being generated...


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So how can this runtime error happen?