[ODE] Convex Volume Geom (GJK)
ode at erwincoumans.com
Wed Dec 21 11:30:00 MST 2005
There is a GJK integration for ODE here:
It supports GJK collision shapes (box,sphere,cylinder,cone, convex hull) and
all the existing ODE colliders, including triangle mesh.
The contacts that GJK returns are collected and reduced into a persistent
I'm interested in your solution for convex for ODE. Can you describe the
algorithms you use to compute the contact points?
Rodrigo Hernandez writes:
> I am working on that as a personal project, but I am having problems
> with convex-convex collision detection,
> once I am satisfied with the results I will commit the code to the
> UNSTABLE branch, I would commit it as-is if anyone
> shows interest in helping out, but I see no use in commiting a half
> working solution.
> Rodrigo Luque wrote:
>>Is there any plan to support convex volume in ODE?
>>Actually, I was using TRIMESH but a notice that no collision is detected
>>when a geom is inside the TRIMESH, I mean not intersecting any triangle of
>>the TRIMESH. This is a big problem when using small hi-speed geoms. This
>>problem won't happen in a convex volume because it's easy to find out if the
>>geom is inside or not.
>>So, is there any plan?
>>ODE mailing list
>>ODE at q12.org
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