[ODE] Trimesh collision problem

[Jon Watte (ODE)]

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.

Cheers,

          / h+