[ODE] Trimesh collision problem

[Jacob Ole Juul Kolding]

On 6/12/06, Jason Perkins <starkos at gmail.com> wrote:
> On 6/12/06, Richard Watton <nomad at nantinet.co.uk> wrote:
> > I have a problem with sphere-trimesh collisions. If the sphere has a
> fairly
> > high velocity, it will pass straight through a trimesh with no collision
> at
> > all (dCollide returns 0). However, it will collide with a plane.
> > I've set dTRIMESH_ENABLED=1 and using single or double precision makes no
> > difference.
>
> A trimesh has no concept of "above" and "below", unlike a plane. So if
> your sphere passes completely through the mesh in one time step no
> collision will be returned. There is a heightmap contrib that can
> handle this case.
>
> I'd be curious to hear if anyone has come up with a workaround for
> this problem, maybe I can write it up on the wiki.
>
> Jason
> _______________________________________________
> ODE mailing list
> ODE at q12.org
> http://q12.org/mailman/listinfo/ode
>
I have the exact same problem.
I was thinking that the ODE sphere/trimesh collision internals could
start with a ray/trimesh collision check in order to catch at least
some of these cases?