[ODE] TR: cylinder plane bug3

[LR]

Hi,

I've just tested new cylinder version and it works fine :) very good !!

I reported that (even if it not make sense) i found the problem when i
started using Offsets instead of transform geom. The following table shows
the problems i have/had


Note: time step=0.01, mass about 0.5 to 2 Kg, lengths about 0.5 to 1 meter,
I can switch from transformgeoms to offsets using #define. In my software,
all geoms are proceeded with the same way, not depanding of it's type...


* BEFORE the today cylinder update
1] using TransforGeoms
Cylinder/Plane : OK
Cylinder/Sphere: not OK: bad contacts points when cylinder own a rotation
Trimesh/Plane: OK

2] using Offsets:
Cylinder/Plane : Falling circle tutched the floor
Cylinder/Sphere: OK
Trimesh plane : Falling

* AFTER the today cylinder update:
1] using TransforGeoms
Cylinder/Plane : OK
Cylinder/Sphere: not OK: bad contacts points when cylinder own a rotation
Trimesh/Plane: OK

2] using Offsets:
Cylinder/Plane : OK
Cylinder/Sphere: OK
Trimesh plane : Falling


LR

-----Message d'origine-----
De : ode-bounces at q12.org [mailto:ode-bounces at q12.org] De la part de Tomek
Klin Envoyé : mercredi 20 septembre 2006 13:06 À : ode at q12.org Objet : Re:
[ODE] cylinder plane bug3

Hi,

>  Hy,

> This is the latest version of test cyl. Witch shows cylinder bug

> I added a plane and moved cylinder and box to down on the plane 
> instead of mesh.
> Without the rotation ->cylinder stay on floor, with rotation the 
> cylinder falls

> LR

this is third bug. order of geom in wrong .

and this is fix

cllide_cylinder_plane (line 223 +/- 5)

(...)
      // Contact 1
      Contact = SAFECONTACT(flags, contact, nContacts, skip);
      dVector3Copy(disc_top_pos, p);
      dVector3Add(p, x, Contact->pos);
+     Contact->g2 = planegeom;
+     Contact->g1 = cylgeom;
      Contact->depth = dFabs(dist_top);
      dVector3Copy(planenorm, Contact->normal);
      nContacts++;

(etc)
      // Contact 2
      
      // Contact 3
      
      // Contact 4
      
(...)

www.klinik.freehost.pl/download/collision_cylinder_plane.cpp


--
Tomek Klin

_______________________________________________
ODE mailing list
ODE at q12.org
http://q12.org/mailman/listinfo/ode