[ODE] non-capped cylinder support (dcyl2) now available in UNSTABLE

[Bram Stolk]

Jaroslav Sinecky wrote:
> Hi!
> I was observing one problem in Cylinder - Trimesh collision. If you drop a
> short cylinder with larger radius (like pneumatics shape for example) on
> triangle with cylinder axis having something between 20 and 70 degrees with
> triangle normal, it first misses collision, later finds it when cylinder is
> already more penetrated and gets pumped up, resulting in the cylinder
> jumping around in quite unnatural way.
> 
> I found the bug (dFabs instead of dSqrt) and put my suggestion of how to fix
> it on SF:
> http://sourceforge.net/tracker/index.php?func=detail&aid=1354935&group_id=24
> 884&atid=382801

I've committed your fix to UNSTABLE cvs branch

   bram

> 
> 
> Apart, I've been using dCyl2 for couple weeks and it's very nice!
> 
> Cheers,
> Jaroslav
> 
> 
> 
> 
>>-----Original Message-----
>>From: ode-bounces at q12.org [mailto:ode-bounces at q12.org]On Behalf
>>Of Bram Stolk
>>Sent: Thursday, November 17, 2005 3:47 PM
>>To: ode at q12.org
>>Subject: [ODE] non-capped cylinder support (dcyl2) now available
>>in UNSTABLE
>>
>>
>>Hi,
>>
>>
>>The UNSTABLE branch now has dcyl2 incorporated.
>>
>>dcyl2 was a contrib, (by Alen Ladavac, ported to ODE by Nguyen Binh),
>>that is now in the regular source tree of UNSTABLE.
>>
>>I've added a test_cyl.cpp test app that tests cylinders against
>>trimesh world, and a box.
>>
>>To use non-capped cylinders, do the following:
>>
>>./configure --with-opcode --with-cylinder
>>
>>I've been careful not to break anything, so a configure run
>>without the flag should not be affected at all.
>>
>>This has only been tested on linux.
>>
>>
>>Please report your findings,
>>Later on, I plan to remove the contrib/ entry from UNSTABLE.
>>
>>   Bram Stolk
>>
>>PS: single-precision ODE seems to have an issue with test_cyl
>>     sometimes collisions are not detected.
>>     I'm pretty sure this is a trimesh issue, and not a cyl issue.
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> 
>