Hi, guys.
I'm using the Collision Detection part of Bullet in a robot manipulator project. I need to satisfy a certain security margin between parts, so I need to prevent collisions from happening between btCompoundShapes. Any suggestion?
By the way, how could I calculate the distance (positive) between two concave objects (two btCompoundShapes made up btConvexHullShapes)? Their AABBs there might not be necessarily overlapping, so there isn't contact manifold.
Thanks in advance.
Regards,
Francisco
Distance between btCompoundShape
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PORRAS
- Posts: 15
- Joined: Tue Oct 13, 2009 2:49 pm
Re: Distance between btCompoundShape
No suggestions??
I know that function setMargin can increase the thickness of an object, so it would be a good way of defining a collision security margin, but I think it has no effect if the objects AABBs aren't overlapping yet. So it seems that the maximum margin that can be set is the distance between the AABB border and the exact geometry, that, of course, won't be the same for all sides... Maybe, would it be possible to enlarge an object AABB so that the narrowphase could be performed with longer positive distances between the objects?
Moreover, how could I skip the broadphase for two particular objects, so that they could be directly included into the narrowphase?
Regards,
Francisco
I know that function setMargin can increase the thickness of an object, so it would be a good way of defining a collision security margin, but I think it has no effect if the objects AABBs aren't overlapping yet. So it seems that the maximum margin that can be set is the distance between the AABB border and the exact geometry, that, of course, won't be the same for all sides... Maybe, would it be possible to enlarge an object AABB so that the narrowphase could be performed with longer positive distances between the objects?
Moreover, how could I skip the broadphase for two particular objects, so that they could be directly included into the narrowphase?
Regards,
Francisco