btBvhTriangleMeshShape and btGImpactMeshShape knocking

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keeeeeeep
Posts: 2
Joined: Thu Jan 29, 2015 9:50 am

btBvhTriangleMeshShape and btGImpactMeshShape knocking

Post by keeeeeeep »

I used btBvhTriangleMeshShape for floor and btGImpactMeshShape for box on the floor , but there is the 'knock' when the box come to the floor's corner.
I referenced AppInternalEdgeDemo and defined contact callback and applied btAdjustInternalEdgeContacts function in it.
I have read this topic.
http://www.bulletphysics.com/Bullet/php ... f=9&t=3052
This improved the box motion but when the box come to floor's corner, the box is knoking.
Besides, if I only add rotation velocity along the axis vertical to the floor , the box starts shifting on the floor. This doesn't happen when I use btBoxShape instead of the btGImpactMeshShape.
Is there any way to improve this situation?
I want to simulate robot assembly motion handling more complicated shape, so I want to use user defined mesh shape and can't replace it with another shape.
sorry for my poor english, so please view the movie and source code.
movie
https://www.youtube.com/watch?v=cNGHlEq ... e=youtu.be

Best regards.

add:
I am using btCompoundShape by converting the btGImpactMeshShape to btCompoundShape using btCreateCompoundFromGimpactShape class.
Attachments
AppInternalEdgeDemoWithGImpactTest00.cpp
(16.75 KiB) Downloaded 248 times
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