[ODE] Collision Trimesh-Box
oder at eleks.lviv.ua
Tue Sep 4 09:57:37 MST 2007
So, the time I'll need to "apply my hands" to ODE inevitably approaches.
Therefore I'd like to do some preparations/consultations, since I did not
participate in this development before.
First of all, briefly about my project I use ODE with.
I develop a realtime system which among other tasks needs to check for
collisions among 3D objects. I do not need to calculate any physics - I get
locations of all the objects from other sources. I only need to check if
there is a collision among any of them or not.
The realtime nature of the system puts strict limitations on time I can
spend in collision checking. So, I'm going to put dCollide() invocations in
background thread and request it to abort its job if I see I can't be in
time with calculations.
In my case, the set of geometries is not predefined, but defined by users
(who are substances beyond the control of my application :)), and who can
define large trimeshes which can take 100ms and more for single geometry
pair collision checking while my limit for verification of whole space is
much less than that. That's why I need to be able to abort dCollide()
execution as soon as possible on request.
1) The initial problem I can see is that collision ckecking is only the
envelope around OPCODE and/or GIMPACT libraries which are developed outside
of ODE. Also there can be other collider systems used. Even if I add support
for preliminary exit in major execution points there I doubt my changes
could be merged to original sources of those libraries (at least not within
this development community). And, more important, I'm not sure there would
be people among initial developers of those libraries who would support this
feature during further evolution of their libraries. On the other hand, as
far as I noted on a quick glance (I did not do thorough investigation yet)
the majority of execution time is spent within the interiors of those
libraries and I definitely need to do something to gain control on that
time. So this is the first and the most difficult obstacle.
2) Next, regardless of item 1), if I would have changes I considered to be
worth/acceptable for merging into ODE sources who of ODE developers will
have time to review them and do actual commit to SVN for me?
Thank you in advance.
-- ICQ: 36361783
----- Original Message -----
From: "Jon Watte (ODE)" <hplus-ode at mindcontrol.org>
To: "Oleh Derevenko" <oder at eleks.lviv.ua>
Cc: <ode at ode.org>
Sent: 14 серпня 2007 р. 20:42
Subject: Re: [ODE] Collision Trimesh-Box
> Well, feel free to supply a patch to make it better!
> As you know, optimize for the common case, make the uncommon case
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