[ODE] Convex Geometry

[Pierre Renaux]

Hi,

If you got only a penetration depth how to you convert that to the 
several contact points required by ODE ? Or is that enought to convert 
to one contact point ?

- Pierre

>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.
>
>Harald 
>
>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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