[ODE] Trimesh Collision Issues

[Brian Uptagrafft]

Hi again all,

So, as appreciated as those suggestions are, they didn't end up solving my 
problem.  Since accuracy is more valuable to me for this application than 
performance, I find myself still in need of trimesh-trimesh collisions.  Per 
James's suggestion, I upped the number of collisions I'm requesting and 
manually created two cubes to use for testing instead of the single 
triangles.  Unfortunately, I still get the same result of 
System.NullReferenceException (object reference not set to an instance of an 
object) when I attempt dCollide on my trimeshes.  Here's a few things that I 
do know, however:

dCollide is working, at least in some capacity.  I created two spheres and 
threw them in there, and it returned as expected.

My vertex data seems to be okay, as I can use dGeomTriMeshGetTriangle and 
get back what I expect for any of my tris

I've attached my modified code (sorry about the length, laying out those 
cubes adds a bunch of lines).  If anyone would be willing to look over it 
and perhaps pick up on something I'm missing, I'd greatly appreciate it.  
Thanks a ton!

Brian


int data_id = ODE::dGeomTriMeshDataCreate();
int data_id2 = ODE::dGeomTriMeshDataCreate();

dVector3 verts[8];

verts[0][0] = 0.0;
verts[0][1] = 0.0;
verts[0][2] = 0.0;

verts[1][0] = 1.0;
verts[1][1] = 0.0;
verts[1][2] = 0.0;

verts[2][0] = 1.0;
verts[2][1] = 1.0;
verts[2][2] = 0.0;

verts[3][0] = 0.0;
verts[3][1] = 1.0;
verts[3][2] = 0.0;

verts[4][0] = 0.0;
verts[4][1] = 0.0;
verts[4][2] = -1.0;

verts[5][0] = 1.0;
verts[5][1] = 0.0;
verts[5][2] = -1.0;

verts[6][0] = 1.0;
verts[6][1] = 1.0;
verts[6][2] = -1.0;

verts[7][0] = 0.0;
verts[7][1] = 1.0;
verts[7][2] = -1.0;

int indices[36];
indices[0] = 0;
indices[1] = 1;
indices[2] = 2;

indices[3] = 0;
indices[4] = 2;
indices[5] = 3;

indices[6] = 1;
indices[7] = 5;
indices[8] = 6;

indices[9] = 1;
indices[10] = 6;
indices[11] = 2;

indices[12] = 5;
indices[13] = 4;
indices[14] = 7;

indices[15] = 5;
indices[16] = 7;
indices[17] = 6;

indices[18] = 4;
indices[19] = 0;
indices[20] = 3;

indices[21] = 4;
indices[22] = 3;
indices[23] = 7;

indices[24] = 3;
indices[25] = 2;
indices[26] = 6;

indices[27] = 3;
indices[28] = 6;
indices[29] = 7;

indices[30] = 5;
indices[31] = 4;
indices[32] = 0;

indices[33] = 5;
indices[34] = 0;
indices[35] = 1;

dVector3 verts2[8];

verts2[0][0] = 0.0;
verts2[0][1] = 0.0;
verts2[0][2] = 0.0;

verts2[1][0] = 1.0;
verts2[1][1] = 0.0;
verts2[1][2] = 0.0;

verts2[2][0] = 1.0;
verts2[2][1] = 1.0;
verts2[2][2] = 0.0;

verts2[3][0] = 0.0;
verts2[3][1] = 1.0;
verts2[3][2] = 0.0;

verts2[4][0] = 0.0;
verts2[4][1] = 0.0;
verts2[4][2] = -1.0;

verts2[5][0] = 1.0;
verts2[5][1] = 0.0;
verts2[5][2] = -1.0;

verts2[6][0] = 1.0;
verts2[6][1] = 1.0;
verts2[6][2] = -1.0;

verts2[7][0] = 0.0;
verts2[7][1] = 1.0;
verts2[7][2] = -1.0;

int indices2[36];
indices2[0] = 0;
indices2[1] = 1;
indices2[2] = 2;

indices2[3] = 0;
indices2[4] = 2;
indices2[5] = 3;

indices2[6] = 1;
indices2[7] = 5;
indices2[8] = 6;

indices2[9] = 1;
indices2[10] = 6;
indices2[11] = 2;

indices2[12] = 5;
indices2[13] = 4;
indices2[14] = 7;

indices2[15] = 5;
indices2[16] = 7;
indices2[17] = 6;

indices2[18] = 4;
indices2[19] = 0;
indices2[20] = 3;

indices2[21] = 4;
indices2[22] = 3;
indices2[23] = 7;

indices2[24] = 3;
indices2[25] = 2;
indices2[26] = 6;

indices2[27] = 3;
indices2[28] = 6;
indices2[29] = 7;

indices2[30] = 5;
indices2[31] = 4;
indices2[32] = 0;

indices2[33] = 5;
indices2[34] = 0;
indices2[35] = 1;

ODE::dGeomTriMeshDataBuildSimple(	data_id,
									verts,
									3,
									indices,
									3);

ODE::dGeomTriMeshDataBuildSimple(	data_id2,
									verts2,
									3,
									indices2,
									3);

int space_id = ODE::dSimpleSpaceCreate(0);

int geom_id = ODE::dCreateTriMesh(space_id, data_id);
int geom_id2 = ODE::dCreateTriMesh(space_id, data_id2);

dVector3 v0, v1, v2;

ODE::dGeomTriMeshGetTriangle(geom_id, 7, &v0, &v1, &v2);
cout << v0[0] << ", " << v0[1] << ", " << v0[2] << endl;
cout << v1[0] << ", " << v1[1] << ", " << v1[2] << endl;
cout << v2[0] << ", " << v2[1] << ", " << v2[2] << endl;

dContactGeom contacts[8];

cout << ODE::dCollide(geom_id, geom_id2, 8, contacts, sizeof(dContactGeom)) 
<< endl;