[ODE] Im

[bram at sara.nl]

>> There have been many reports that the cylinder does not work
>> right with trimesh collision. It reportedly generates contacts
>> that are outside of the actual cylinder volume. Again, those who
>> have tested in detail also claim you can't make a good, driveable
>> car using cylinders as wheels, driving on a trimesh terrain.
>>
>> Cheers,
>>
>> / h+
>>
>
> Im inclined to agree here.  Even if we had a 100% working cyl collider
> (which apparently we don't), a perfectly rigid sphere does a better job of
> maintaining lots of contact points with a triangle mesh terrain then a
> perfectly rigid cylinder does.  Using Soft contacts/cfm would make the
> cylinder a bit more usable as a "tyre" but softening the simulation up to
> account for lousy collision geometry doesn't seem that appealing to me.
> Then again, not having flat-walled tires is a bit wanky too.

If you give dcyl2 a try, together with my version of test_buggy,
you will see it works pretty well. Better than the original sphere
wheeled buggy.

I tried posting the code to the list, but it got blocked.
You can get the modified demo at:

http://stolk.org/tmp/buggy/

  Bram

> But oh, how I'd love to have some working barrels and other things you can
> composite together out of proper flat-ended cylinders.  Biggest thing I
> miss
> vs other SDK's at this point.
>
> Pete.
>
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