Hanoi towers with OpenHaptics, Bullet, OpenGL and Assimp.

Hanoi towers with OpenHaptics, Bullet, OpenGL and Assimp. My first not bad try to integrate all this stuff. The cylinders and the monkey are GImpact static, the disks and the cube are dynamic. Using Display lists.

Currently, it runs OK, but I have problems like:
1. Low performance when objects collide (about 7-9 FPS). I use btGImpactMeshShape for all the objects in my scene, except walls.
2. I can't use Scheduler in OpenHaptics, well in fact I can, but program crashes when I try to shut down it properly. I use HL and HD at the same time. OpenHaptics documentation is very poor (v.3) at this subject and not only , so there are many problems also that cause me a headache.
3. I have also problems with collision detection in Bullet, since there are cases (and often), when I can push the objects in my scene through others. My world is a closed box, so even if theoretically must not allow objects to pass the walls, I can force them (by pushing with the arm, or turning simulation off, applying a force and then turning simulation on again) to pass the walls of the box, so they might fall into abyss :D.

Category:

Science & Technology

Tags:

• Phantom
• Bullet physics engine
• OpenGL
• OpenHaptics
• Assimp

[GinBlog82]

Regarding the third point, the objects pass through the wall because the collision model of Bullet Library is discrete and not continuous.