Computing penetration depth from btBvhTriangleMeshShape

[Nacho]

How can I compute penetration depth between a convex shape and btBvhTriangleMeshShape?

Between two convex shapes, I use btGjkPairDetector, but it is no available for concave shapes.

Thanks in advance.
Nacho

[sparkprime]

I believe you find the right triangle in the mesh, and then the triangle is convex so it's just a convex-convex. However I don't know what I'm talking about.

[Erwin Coumans]

Between two convex shapes, I use btGjkPairDetector, but it is no available for concave shapes.

As sparkprime already mentioned, it boils down to a series of convex-triangle collisions indeed. You just need to implement a triangle-convex callback:

Code: Select all

 concaveShape->processAllTriangles( &convexTriangleCallback,cmAabbMin,cmAabbMax);

Note that this aabb is the aabb of the convex shape transformed into the coordinate system of the trianglemesh shape. This has been implemented in bullet\src\BulletCollision\CollisionDispatch\btConvexConcaveCollisionAlgorithm.cpp

Hope this helps,
Erwin

[Nacho]

Thanks!

Nacho