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ODE dCollide only checks AABB

asked 2020-06-17 02:01:44 -0500

It seems that the GetIntersection function of the RayShape class for ODE uses dCollider between geoms, but it looks like that is only checking AABB, and not my true collision shape (a non axis-aligned box)

Can anyone explain what's going on, or how to make checking for collision work correctly?

for a simple example, a ray at the origin (blue line here) reports that it intersects with the box, even thought it clearly does not.

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answered 2020-06-27 19:37:49 -0500

The Gazebo ODE ray wrapper code seems to be checking collision in a limited way, first using only the AABB. I would call this a bug, since one should really recurs into the space and check collision with the actual geom.

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Asked: 2020-06-17 02:01:44 -0500

Seen: 131 times

Last updated: Jun 27 '20