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ODE hangs on collision.

 
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LarryTM



Joined: 04 Jul 2006
Posts: 30
PostPosted: Mon Dec 29, 2008 12:26 am    Post subject: ODE hangs on collision. Reply with quote
Hi,

I have strange problem with ODE. When i compile sample app from ODE or my own app, it works fine on PC, but hangs up on PSP.

My psp hangs up when objects gets collision. When objects don't collide my app is working.

I use latest pspsdk and ODE from ps2dev SVN.

Anyone can help me?
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J.F.



Joined: 22 Feb 2004
Posts: 2906
PostPosted: Mon Dec 29, 2008 10:11 am    Post subject: Reply with quote
If I remember correctly, the last time someone had this same problem, it was because the stack was too small. The ODE collision example needs at least a 1MB stack to run. The default stack on the PSP is 256KB.
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LarryTM



Joined: 04 Jul 2006
Posts: 30
PostPosted: Wed Dec 31, 2008 9:29 am    Post subject: Reply with quote
How to increase stack size?

I've made a few tests and i think that the problem exists when i use CCylinder collision with Trimesh.

When i use Box object with Trimesh everything works fine. Here's my code :

Creating trimesh
Code:

  fiz_info.world = dWorldCreate();
  fiz_info.space = dHashSpaceCreate (0);

  fiz_info.contactgroup = dJointGroupCreate (0);
  dWorldSetGravity (fiz_info.world,0,0,-9.8);
  dWorldSetQuickStepNumIterations (fiz_info.world, 64);

  dTriMeshDataID Data = dGeomTriMeshDataCreate();
 
   dGeomTriMeshDataBuildSingle
  (
    Data,
   fiz_info.vertexy,
    3 *sizeof(dReal),
   fiz_info.ile_vert/3,
   fiz_info.indexy,
   fiz_info.ile_ind,
    3*sizeof(int)
  );
   
  fiz_info.world_mesh = dCreateTriMesh(fiz_info.space, Data, 0, 0, 0);
  dGeomTriMeshEnableTC(fiz_info.world_mesh, dSphereClass, false);
  dGeomTriMeshEnableTC(fiz_info.world_mesh, dBoxClass, false);
  dGeomSetPosition(fiz_info.world_mesh, 0, 0, 0);
  dRFromAxisAndAngle (R, 0,1,0, 0);
  dGeomSetRotation (fiz_info.world_mesh, R);


Creating Cylinder object :
Code:

   robot->obiekt.TriBody=dBodyCreate (Level01->fiz_info.world);
   dMassSetCylinderTotal (&robot->obiekt.masa,4,1,robot->obiekt.wymiary.x/2,robot->obiekt.wymiary.z/2);
   dBodySetMass (robot->obiekt.TriBody,&robot->obiekt.masa);
   robot->obiekt.TriMesh=dCreateCCylinder(Level01->fiz_info.space,robot->obiekt.wymiary.x/2,robot->obiekt.wymiary.z/2);
   dGeomSetBody (robot->obiekt.TriMesh,robot->obiekt.TriBody);


And collision :
Code:

static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
    const int MAX_CONTACTS = 5;
    int i;

    dBodyID b1 = dGeomGetBody(o1);
    dBodyID b2 = dGeomGetBody(o2);

    dContact contact[MAX_CONTACTS];
 
    for (i = 0; i < MAX_CONTACTS; i++)
    {
      contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
   dContactSoftERP | dContactSoftCFM | dContactApprox1;
      contact[i].surface.mu = dInfinity;
      contact[i].surface.slip1 = 0.1;
      contact[i].surface.slip2 = 0.1;
      contact[i].surface.soft_erp = 0.5;
      contact[i].surface.soft_cfm = 0.3;
    }

    if (int numc = dCollide(o1, o2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact)))
    {

        for (i = 0; i < numc; i++)
        {
         dJointID c = dJointCreateContact(Level01->fiz_info.world, Level01->fiz_info.contactgroup, contact + i);
            dJointAttach(c, b1, b2);
        }
    }
}



static void simLoop (atr3d *scenka)
{
 
   dSpaceCollide(scenka->fiz_info.space, 0, &nearCallback);
   dWorldQuickStep(scenka->fiz_info.world, 0.1);
   dJointGroupEmpty(scenka->fiz_info.contactgroup);
 
}


Any ideas?
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J.F.



Joined: 22 Feb 2004
Posts: 2906
PostPosted: Wed Dec 31, 2008 1:17 pm    Post subject: Reply with quote
LarryTM wrote:
How to increase stack size?

Any ideas?


Click the search button at the top of the page, set the forum to PSP Development, then enter the term "STACK_SIZE". SHEESH! Kids these days... in MY day, we had to walk twenty miles to find the answer! In the snow! Uphill!
:D
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