[ODE] Trimesh collision problem

Jon Watte (ODE) hplus-ode at mindcontrol.org
Mon Jun 12 10:04:19 MST 2006

Richard Watton wrote:
> I have a problem with sphere-trimesh collisions. If the sphere has a fairly
> high velocity, it will pass straight through a trimesh with no collision at
> all (dCollide returns 0). However, it will collide with a plane.
> I've set dTRIMESH_ENABLED=1 and using single or double precision makes no
> difference.

A trimesh is an infinitely thin shell. If the sphere moves further than 
its own diameter in a single step, it may/will tunnel. The solution is 
to use smaller time steps, or use swept primitives for collision. Either 
a ray cast between centers, or a capsule covering the sphere's 
trajectory will do the trick in this case.


          / h+

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