[ODE] Trimesh collision problem

[David Walters]

> thanks for your help, but it still doesnt work. Maybe that's because I use
> ODE 0.7 binary release?

I don't think so, trimeshes haven't changed in a way that would stop
this working.

>
> Btw neither in the WIKI nor in the official docu I found
> dGeomTriMeshDataBuildSingle or %Single1 - where did ya find them?

Just by browsing the source code. (Visual Assist helped) -- look at
ode/include/collsion_trimesh.h

>
> An other question: vertexpoints should be 4*dReal, how can you pass a
> pointer to your HsVector array? HsVector is a struct of 3 floats as you said
> - not 4 floats,

The parameter that you pass "4*sizeof(dReal)" into is the 'stride'. It
only actually uses the first 3 floats - but advances the pointer by
the stride instead of 3xfloat so the 4th unused float is skipped (it's
only there for alignment reasons).

To fix your problem you could either change your code to read:


   // 1st Vertexpoint coordinates
   dVertex[0] = 0;
   dVertex[1] = 297;
   dVertex[2] = 800;
   dVertex[3] = 0;		// Padding

   // 2nd Vertexpoint coordinates
   dVertex[4] = 297;
   dVertex[5] = 297;
   dVertex[6] = 800;
   dVertex[7] = 0;		// Padding

   // 3rd Vertexpoint coordinates
   dVertex[8] = 297;
   dVertex[9] = 0;
   dVertex[10] = 800;
   dVertex[11] = 0;		// Padding

   // Polygon combo
   iPoly[0] = 0;
   iPoly[1] = 1;
   iPoly[2] = 2;



or alternatively replace

      dGeomTriMeshDataBuildSimple( idTrimeshData, dVertex, 3, iPoly, 1);

with

      dGeomTriMeshDataBuildSingle( idTrimeshData, dVertex, 3 *
sizeof(dReal), 3,
                                                      iPoly, 3,
sizeof(int) * 3 );


actually, on closer inspection - it looks like your index count in
dGeomTriMeshDataBuildSimple should have been 3 and not 1.


Regards,
Dave