[ODE] example for using trimesh landscapes

[Duncan Frostick]

Those examples are godsends! Cheers for putting them up guys. However, 
I'm still having trouble with my trimesh collisions and I'm not sure why.

I've tried to replicate your ODE setup Tyler as much as I could see (Ode 
init, collision settings... couldn't find mass and density settings of 
bodies though). My problem is that nothing seems to collide in a natural 
fashion, and when they do most of the time they bounce around 
erratically and/or get embedded in each other. That's a really lame 
description of the problem I know, so if you want a look at what I mean 
here's a (Win32 DirectX SDK built... sorry!) binary:

http://www.duncanf.co.uk/~dunc/project/DuncEngine.zip

Should just work upon running, and instructions in the top left of the 
window when it runs. I'd really appreciate it if someone could have a 
look at how the bodies are behaving and see what they think is going 
wrong. I think it's particularly puzzling how the boxes rest in weird 
positions in the floor plane sometimes. There's a copy of the init and 
callback functions being used here:

http://www.duncanf.co.uk/~dunc/project/DuncEnginePhysics.cpp

If I make the gravity as strong as earths (which I aim to do 
eventually), the box bodies just embed themselves in the trimesh and 
don't do anything else. The trimesh has no body object associated with 
it, it's just a geom - the boxes all have their own box bodies. The 
trimesh is kept static by setting it's position explicitly each frame, I 
tried a fixed joint to the environment with a body associated to the 
trimesh, but there was no difference. Also, if I set dWorldSetContact 
MaxCorrectingVel and SurfaceLayer to try to fix things I just get 
objects embedding themselves or falling straight through the mesh.

The eventual aim of my project is to get a funky air hockey game going, 
so the smoothness of the trimesh collisions is pretty crucial.

Cheers for any help you can give,

Duncan