[ODE] Moving trimesh mysteriously locked at origin

Shamyl Zakariya shamyl at zakariya.net
Mon May 14 07:31:37 MST 2007

Actually, I am using dMassSetTrimesh. I'm also using a fairly recent  
ODE trunk ( from last week ).

shamyl at zakariya.net
     "fodder for aggressive meta-lampoonery"
         -- From a review on a mediocre episode of _The Simpsons_

On May 14, 2007, at 10:24 AM, Mikhail Zoline wrote:

> Did you check your trimesh mass inertia marix?
> If it not properly initialized you could use :
> dMassSetTrimesh(dMass *, dReal density, dGeomID g)
> MZ
> Shamyl Zakariya wrote:
>> I've tried to imeplement moving trimeshes per   
>> demo_moving_trimesh.cpp. The only trimesh specific code in that  
>> demo  seems to be the call to dGeomTriMeshSetLastTransform, as  
>> well as  dMassSetTrimesh, and I've implemented both ( as far as I  
>> can tell )  correctly.
>> The trouble is, my trimeshes immediately lock at the origin with  
>> an  identity rotation and that's that. They still participate in   
>> collision detection as well as ray intersection, but they simply   
>> won't move, even if I apply forces to them.
>> Is there anything anybody recognizes about this, such that I  
>> might  fix it? I'm not getting any error messages from ODE, so  
>> there's no  leads for me to track down.
>> For what it's worth, when treating my trimeshes as static, they  
>> work  correctly. They can be positioned, things collide with them   
>> correctly, etc etc. It's just when a body is attached that things  
>> go  wonky. So I guess the real question here is, what is the best  
>> way to  make a bodied trimesh? What's the magic incantation that  
>> makes it  different than some other bodied shape like a capsule or  
>> a box?
>> Thanks,
>> shamyl at zakariya.net
>>    "this is, after all, one of those movies where people spend a  
>> great
>>    deal of time looking at things and pointing."
>>      From a review of _Fantastic Voyage_
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