Hello JC,
On 10-Aug-23 23:05, 'JC Denton' via ProjectChrono wrote:
Thanks again for your insight.
yw!
I know about the functor to run raycasts on my terrain, and I was
planning to use that for my traditional terrain mesh. I can't call
into Unreal's terrain data with that function since there is no thread
safe method of doing so that I know of, however I can copy that mesh
into the Chrono side so it can query it whenever it needs.
Understood. If there is no other way then it sounds like you will need
to somehow make a copy.
My concern lies more with the non terrain type meshes that are still
drivable, but seperate meshes. I have long spline type pathways,
rocks, rubble and other debris that can also be driven upon.
These separate meshes have simplified primitive and convex colliders.
I have begun the process of extracting all collision shapes from
unreal and making static versions of them on the Chrono Bullet side,
but not sure how nicely Chrono's tire models will interact when
driving over those non terrain objects, or
perhaps it ignores them entirely. I have to make a distinction between
drivable mesh and a terrain type mesh. But I will for sure have to do
some work in that height/normal query to determine what its driving
over, and may need to trace against
my static meshes also, which could start getting expensive without
optimizations.
As far as I'm aware, at least the semi-empirical tire models only
interact with some form of "terrain" implementation (using raycasts). In
a previous simulation I was involved in (not using Chrono) all 3D meshes
that were tagged as "drivable" were pre-processed and converted into a
single mesh that was specifically designed to drive on. It was optimized
for allowing fast raycasts, and even slightly "smoothed" to account for
particular nasty polygons in the original mesh that might be tricky when
driven on (small gaps, 90 degree angles, etc). It sounds like you are
probably heading in a similar direction here.
Guess we will see what happens!
Will report back
Looking forward to hearing more about your progress!
Greetings, Marcel
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