[ODE] trimesh inertia

[gero.mueller@cloo.de]

ok, forget my criticism of bad code. i looked at the unfinished GIMPACT code!
though the lines still need fixing i'm not shocked anymore :-)

Sorry!
Gero

gero.mueller at cloo.de schrieb:

> Hello!
>
> I'd like to contribute the function dMassSetTrimesh, based on this
> paper and code:
> http://jgt.akpeters.com/papers/Mirtich96/
> It worked very good in my own old physics engine.
>
> I just browsed through the trimesh code and was quite shocked. There
> are some lines of VERY bad code:
> collision_trimesh_internal.h, the GetVertex function for example:
> 1. it never returns anything: out not a reference
> 2. it converts all vertices to float instead to the precision of dVector3
>
> Alot of trimesh vertex/triangle functions are broken too:
>
> int dGeomTriMeshGetTriangleCount (dGeomID g)
> {
>      dxTriMesh* Geom = (dxTriMesh*)g;
>      return 0;
> }
>
> Now my questions:
>
> 1. when provide some patches, will they be intergrated, or will my
> work be for nothnig (provided the quality is ok of course..)
> 2. Do the members of dxTriMeshData always contain the vertices and
> indices? With OPCODE and GIMPACT, so that i can use them safely?
>
> Greetings
> Gero
>
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