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The attached code file :
build a given trimesh (a complex one because its from a real example)
build a box
* check for intersections
-->these two does not intersect but collision is detected
Appearing on 0.8 and 0.9
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I was looking at the code and it is hard to see if there should be a collision or not.
The z values for the trimesh goes up to at least 76.5136 and the position of the box is z=42.
Can you modify your code to make it display the trimesh and the box using drawstuff (see the demo).
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File Added: objects.jpg
here you are (a modified version of demo_trimesh.cpp). I cannot find a way to print collision points. Hope it helps. As you can see, ship and box are quite far away.
File Added: demo_trimesh.cpp
Does one of the geoms have identity rotation? It may be affected by this bug:
Yes the trimesh has identity orientation as you may see in the code previously attached (test-ode.txt, that is the test case, expressed in CppUnit to reproduce the issue).
But I have just tried to set another orientation :
dQuaternion orientation ;
which changes nothing at all and I still have the bug with that orientation. Maybe I am wrong in thinking that orientation is not axis aligned.
By the way, I am now under version 0.11.1 (on a debian box) and I still reproduce the issue.
It is easy to reproduce with the automatic test case I have provided, but as shown by svn history, no automatic test has been added for 3 years. I am sorry to be so rude, I love ODE and I am very grateful to all it's contributors, but I deeply believe that the first step to correct this bug is to automate it.
If you need I could transform the attached code to the UnitTest format already present in ODE, which will take a few minutes, but I have no ability to correct that issue.