[ODE] "synchronous" ray intersection tests?

Darío Mariani mariani.dario at gmail.com
Fri Aug 5 10:14:34 MST 2005

  Here is what I'm experimenting with: I have two types of geometries,
the first group are the usual geometries wich collide in the usual
way, the second group are sensor geometries wich when they collide
with a geometry from the first group it reports this event instead of
generating a contact group. In this way I build my objects with shapes
and sensors and have only one collision callback that looks like this:

collision (dGeom o1, dGeom 02):
  do stuff for space collision and check if o1 and o2 should collide
  if o1 is a sensor and o2 is a sensor ==> return
  if o1 is a shape and o2 is a shape ==> generate contact group
  if o1 is a sensor and o2 is a shape ==> report o1 detected o2
  if o2 is a sensor and o1 is a shape ==> report o2 detected o1


On 8/4/05, Jon Watte (ODE) <hplus-ode at mindcontrol.org> wrote:
> > Is there a reasonable way, performance-wise, that I can make
> > "throw-away" line intersection tests like above with ODE and
> > encapsulate it in a method that will give me my result right away? I
> Sure. You can implement that very function, by having it call
> dCollide between a "utility" ray that you create at start-up, and change
> using the parameters given for each query, and the geometry of the
> world. Capture the results in a static variable (or send in a
> pointer-to-result-storage) in a specially formulated near-callback function.
> Btw: CarWorld does this all over the place :-)
> Cheers,
>                         / h+
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