Hi,
I noticed a strange perforce drop if objects intersects with heightmap
terrain.
Lets take the demo_SEN_Gator example and do the following steps:
1. change terrain model to HEIGHMAP:
```
RigidTerrain::PatchType terrain_model = RigidTerrain::PatchType::HEIGHT_MAP
```
2. add some obstacles in the sky
```
// obstacles
for (int i = 0; i < 100; i++) {
float x = (((float)rand() / RAND_MAX) - 0.5f) * 100.f;
float y = (((float)rand() / RAND_MAX) - 0.5f) * 100.f;
auto box_body = chrono_types::make_shared<ChBodyEasyBox>(4, 4, 4,
1000, true, true, patch_mat);
box_body->SetPos({x, y, 6});
box_body->SetFixed(true);
box_body->GetVisualShape(0)->SetTexture(GetChronoDataFile("textures/bluewhite.png"));
box_body->GetVisualShape(0)->SetMutable(false);
gator.GetSystem()->Add(box_body);
}
```
3. run demo: the performance is not affected
4. move the obstacles near the ground
```
// obstacles
for (int i = 0; i < 100; i++) {
float x = (((float)rand() / RAND_MAX) - 0.5f) * 100.f;
float y = (((float)rand() / RAND_MAX) - 0.5f) * 100.f;
auto box_body = chrono_types::make_shared<ChBodyEasyBox>(4, 4, 4,
1000, true, true, patch_mat);
box_body->SetPos({x, y, 0});
box_body->SetFixed(true);
box_body->GetVisualShape(0)->SetTexture(GetChronoDataFile("textures/bluewhite.png"));
box_body->GetVisualShape(0)->SetMutable(false);
gator.GetSystem()->Add(box_body);
}
```
5. run demo: huge performance drop
with BOX terrain this does not happen. The processing time increases a lot
in ComputeCollisions() function.
Is this behavior a limit of the collision detection module or i am making
something wrong?
Thanks,
Francesco
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