[ODE] get triangle index of a trimesh - applied to trunk

[Jaroslav Sinecky]

So, for the moment, I changed my implementation to use new Side1,Side2 
fields in dContactGeom (as suggested by Geoff) and applied it to svn trunk.
 
What is implemented now:
trimesh triangle index when colliding with sphere, box, capsule, cylinder.

In other cases I don't set the Side1, Side2 fields to -1, so they will 
contain undefined value. You can fill your Side1,Side2 fields with -1 
before calling dCollide to be sure if it was set or not.

Cheers,
Jaroslav

Geoff Carlton wrote:
> Hi,
> I have the full code containing the change, as well as several other 
> changes.  In terms of extracting that one feature out into a separate 
> patch that can be applied to SVN, I did say I would try to do that 
> when I had more time.  Unfortunately, if anything, my free time is 
> going the other way.  For now, I can offer the complete source (which 
> you may have trouble merging), or you will still have to wait an 
> indeterminate time until I get around to it.
>
> Sorry about that,
> Geoff
>
>
> Jaroslav Sinecky wrote:
>> It didn't get it over to the maillist, I guess it's still waiting for 
>> approval, because it exceeded size of 10kB, or something like that. I 
>> didn't bother because there was a better proposal - adding feedback 
>> field in the contact struct and Geoff Carlton was going to send a 
>> patch for that, which didn't happen yet.
>> Nevermind, I can change my code to store the index in feedback field, 
>> which is really minor change and apply it to svn.
>> Or Geoff, will you send your code?
>>
>> Ettore Pancini wrote:
>>  
>>> quite strangely i can't find the original mail from Sinecky Jaroslav
>>> neither in the archives nor in my inbox. someone has this patch?
>>>
>>>     ----- Original Message -----
>>>     *From:* vicente conejeros <mailto:vicenteconejeros at hotmail.com>
>>>     *To:* ODE mailing_list <mailto:ode at q12.org>
>>>     *Sent:* Friday, March 10, 2006 21:05
>>>     *Subject:* Re: [ODE] get triangle index of a trimesh
>>>
>>>     thanks :D
>>>
>>>         ----- Original Message -----
>>>         *From:* Jaroslav Sinecky <mailto:sinecky at telefonica.net>
>>>         *To:* adastra at inorbit.com <mailto:adastra at inorbit.com> ;
>>>         vicente conejeros <mailto:vicenteconejeros at hotmail.com>
>>>         *Cc:* ODE mailing_list <mailto:ode at q12.org>
>>>         *Sent:* Friday, March 10, 2006 10:21 AM
>>>         *Subject:* RE: [ODE] get triangle index of a trimesh
>>>
>>>         So here goes the patch, maybe someone finds it useful or you
>>>         can include it in unstable. It's pretty simple: after dCollide
>>>         returns, call
>>>                  int triIndex = dGeomTriMeshGetTouchedTriangle(g1, 
>>> contactIndex);
>>>                  where contactIndex is the index in the list of 
>>> returned
>>>         contacts and g1 is the Trimesh geom involved in the collision.
>>>                  disclaimer:
>>>         - Not implemented for ray or plane colliding with trimesh.
>>>         Suppose should be similarily easy to implement though.
>>>         - There is static buffer (64) to hold indexes. I believe if
>>>         this overflows, it shouldn't crash, just some asserts will
>>>         come out.
>>>         - It's not completely robust, for example if you send
>>>         contactIndex not consistent with immediately preceding
>>>         dCollide call, result is undefined
>>>                  Performance impact should be negligible though.
>>>                           Cheers,
>>>         Jaroslav
>>>
>>> ------------------------------------------------------------------------ 
>>>
>>>
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>