Collision into OdeTriMesh collision objects no longer works #174
Description
I've got a problem with Panda3D after 1.9.3 and OdeTriMesh collision objects. Objects colliding into the OdeTriMesh simply pass through each other with almost no interaction. Actually, it sometimes collides a little bit; most of the cubes fall straight through but one or two will might interact momentarily. The modified example (from the Panda3D manual) works very nicely on 1.9.3 and earlier (haven't tested it yet with 1.9.4.)
The model referenced in the code can be downloaded from here.
from direct.directbase import DirectStart
from panda3d.ode import OdeWorld, OdeSimpleSpace, OdeJointGroup
from panda3d.ode import OdeBody, OdeMass, OdeBoxGeom, OdePlaneGeom
from panda3d.core import BitMask32, CardMaker, Vec4, Quat
from random import randint, random
import math
from pandac.PandaModules import OdeTriMeshData, OdeTriMeshGeom, Point3, Mat4
# Setup our physics world
world = OdeWorld()
world.setGravity(0, 0, -9.81)
# The surface table is needed for autoCollide
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
# Create a space and add a contactgroup to it to add the contact joints
space = OdeSimpleSpace()
space.setAutoCollideWorld(world)
contactgroup = OdeJointGroup()
space.setAutoCollideJointGroup(contactgroup)
# Load the box
box = loader.loadModel("box")
# Make sure its center is at 0, 0, 0 like OdeBoxGeom
box.setPos(-.5, -.5, -.5)
box.flattenLight() # Apply transform
box.setTextureOff()
# Add a random amount of boxes
boxes = []
for i in range(randint(15, 30)):
# Setup the geometry
boxNP = box.copyTo(render)
boxNP.setPos(randint(-10, 10), randint(-10, 10), 10 + random())
boxNP.setColor(random(), random(), random(), 1)
boxNP.setHpr(randint(-45, 45), randint(-45, 45), randint(-45, 45))
# Create the body and set the mass
boxBody = OdeBody(world)
M = OdeMass()
M.setBox(5, 1, 1, 1)
boxBody.setMass(M)
boxBody.setPosition(boxNP.getPos(render))
boxBody.setQuaternion(boxNP.getQuat(render))
# Create a BoxGeom
boxGeom = OdeBoxGeom(space, 1, 1, 1)
boxGeom.setCollideBits(BitMask32(0x00000002))
boxGeom.setCategoryBits(BitMask32(0x00000001))
boxGeom.setBody(boxBody)
boxes.append((boxNP, boxBody))
# Add a plane to collide with
# cm = CardMaker("ground")
# cm.setFrame(-20, 20, -20, 20)
# ground = render.attachNewNode(cm.generate())
# ground.setPos(0, 0, 0); ground.lookAt(0, 0, -1)
# groundGeom = OdePlaneGeom(space, Vec4(0, 0, 1, 0))
# groundGeom.setCollideBits(BitMask32(0x00000001))
# groundGeom.setCategoryBits(BitMask32(0x00000002))
tray_mod = loader.loadModel('tray.egg')
tray_mod = tray_mod.find('**/tray')
tray_mod.reparentTo(render)
cat=BitMask32(0x00000001)
col=BitMask32(0x00000002)
objdata = OdeTriMeshData(tray_mod, True)
tray_geom = OdeTriMeshGeom(space, objdata)
tray_body = OdeBody(world)
tray_body.setGravityMode(0)
tray_mass = OdeMass()
minDim, maxDim = tray_mod.getTightBounds()
tray_dimms = Point3(maxDim - minDim)
tray_mass.setBox(1, tray_dimms.getX(), tray_dimms.getY(), tray_dimms.getZ())
tray_body.setMass(tray_mass)
tray_body.setPosition(tray_mod.getPos(render))
tray_body.setQuaternion(tray_mod.getQuat(render))
tray_geom.setBody(tray_body)
boxes.append((tray_mod, tray_body))
# Set the camera position
base.disableMouse()
base.camera.setPos(10, -10, 40)
base.camera.lookAt(0, 0, 0)
# The task for our simulation
def simulationTask(task):
space.autoCollide() # Setup the contact joints
# Step the simulation and set the new positions
world.quickStep(globalClock.getDt())
for np, body in boxes:
np.setPosQuat(render, body.getPosition(), Quat(body.getQuaternion()))
contactgroup.empty() # Clear the contact joints
return task.cont
# Wait a split second, then start the simulation
taskMgr.doMethodLater(0.5, simulationTask, "Physics Simulation")
run()