[ODE] Bug in Ray-Trimesh collision implementation

[Sawyer Larkin]

Thanks guys I just wanted to let you know that everythings working and thanks 
for all the help!!!

On Friday 18 March 2005 01:36 pm, Adam D. Moss wrote:
> Sawyer wrote:
> > Thanks this is exactly the information I needed to know.  That said, it
> > didn't work.
>
> Uh-oh.
>
> > Here are the two compiling and non-crashing variations I tried, neither
> > of them fixed the problem.
> >
> > (RayProximity::UpdateCallback)
> >     // Check for ray/geom intersections
> >     if ( rayGeom && hitGeom )
> >     {
> >       dGeomRaySetParams((dxGeom*)rayGeom, 1, 1);
> >       dGeomRaySetClosestHit((dxGeom*)rayGeom, 1);
> >       n = dCollide(o1, o2, 1, &contact, sizeof(contact));
> >       if ( n > 0 )
> >       {
> >         if (contact.depth < rayGeom->contactDepth)
> >         {
> >           //printf("%p %p %f \n", o1, o2, contact.depth);
> >           rayGeom->contactDepth = contact.depth;
> >           rayGeom->contactRetro = hitGeom->GetRetro();
> >           rayGeom->contactFiducial = hitGeom->GetFiducial();
> >         }
> >       }
> >     }
>
> Do you mean dGeomRaySetClosestHit((dxGeom*)o1 [or o2], 1);?
> Guessing by rayGeom->contactFiducial, which isn't an attribute of
> a dxGeom, rayGeom isn't a dxGeom (or you have subclassed it).
>
> [..]
>
> >       dGeomRaySetClosestHit((dxGeom*)rayGeom, 1);
>
> [..]
>
> Same here.
>
> > Do I need to increase the number of collisions processed (if I just
> > increase the number above 1 I get a run-time crash, I would need to look
> > further into the size of the memory passed).
>
> I don't know if this would help for a ray-trimesh collision.  If you
> want to try it then you can reasonably expect a crash if you're just
> passing in a pointer to a single contact struct:
>         n = dCollide(o1, o2, 1, &contact, sizeof(contact));
> Instead you'd have to pass a pointer to a suitably-sized arrays of
> contact structs instead.
>
> --Adam