[ODE] Trimesh-Trimesh collision problems

[Nuno Maltez]

Hi,

I'm using ODE 0.6 and having problems with Trimesh - Trimesh
collisions. It's very strange because the "test_moving_trimesh" that
comes with ODE works just fine. I made a new test replacing the bunny
with my trimesh pyramid as an example. It can be downloaded at:

http://pwp.netcabo.pt/nmfm/ode/test_moving_trimesh.cpp

and a small video capturing a simulation on my PC

http://pwp.netcabo.pt/nmfm/ode/movie.wmv

Maybe it's a problem with my trimesh model, but simple geometries
collide fine against it (boxes, spheres and capsules). However, when
the falling pyramid hits the static one, it just gets "kicked" away.

I also thought it could be some problem with my World parameters or
with any other ODE settings I do not understand perfectly yet, like
ContactJoint settings or different stepping functions, but I just
copied the supplied test_moving_trimesh and my results are still
weird.

I would appreciate any help you could provide.

Thx,
Nuno