[ODE] get triangle index of a trimesh

[Ettore Pancini]

quite strangely i can't find the original mail from Sinecky Jaroslav 
neither in the archives nor in my inbox. someone has this patch?
  ----- Original Message ----- 
  From: vicente conejeros 
  To: ODE mailing_list 
  Sent: Friday, March 10, 2006 21:05
  Subject: Re: [ODE] get triangle index of a trimesh


  thanks :D
    ----- Original Message ----- 
    From: Jaroslav Sinecky 
    To: adastra at inorbit.com ; vicente conejeros 
    Cc: ODE mailing_list 
    Sent: Friday, March 10, 2006 10:21 AM
    Subject: RE: [ODE] get triangle index of a trimesh


    So here goes the patch, maybe someone finds it useful or you can include it in unstable. It's pretty simple: after dCollide returns, call 

    int triIndex = dGeomTriMeshGetTouchedTriangle(g1, contactIndex);

    where contactIndex is the index in the list of returned contacts and g1 is the Trimesh geom involved in the collision.

    disclaimer:
    - Not implemented for ray or plane colliding with trimesh. Suppose should be similarily easy to implement though.
    - There is static buffer (64) to hold indexes. I believe if this overflows, it shouldn't crash, just some asserts will come out.
    - It's not completely robust, for example if you send contactIndex not consistent with immediately preceding dCollide call, result is undefined

    Performance impact should be negligible though.


    Cheers,
    Jaroslav
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