[ODE] Convex Geometry

Harald Schmid harald.schmid at gmail.com
Tue Apr 12 21:17:19 MST 2005

I have combined ODE with SOLID, which uses GJK. It works perfectly
well, although I have only the pentration depth to work with.

A convex object is a convex set. And a convex set is defined as

B is a convex set <=> for every x,y in B and any s in [0,1] it is true
that z = s*x + (1-s)*y is in B.

Or in words: A set is convex if for any two points in the set the line
connecting the two points is also contained in the set.

I don't know if there is such a thing as a concave set.


On Apr 12, 2005 7:24 PM, Jeffrey Smith <jeffreys at softimage.com> wrote:
> Stephen say wrote:
> > Just wondering if anyone has ever experiemented using a trimesh to simulate
> > a convex geometry (like a bucket for example).
> A bucket is actually conCAVE. Convex objects are locally spherical everywhere
> (i.e. no cavities, dips or valleys).
> But to answer your question, trimesh vs. primitive collisions are relatively stable,
> but trimesh/trimesh collisions remain problematic.  An implementation of GJK/EPA
> would fit well into ODE, if you're looking for a "fun" project.
> -jeff
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Harald Schmid
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85748 Garching

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