Gimpact vs Heightfield bug
The problem occurs for example in demo_heightfield. Dropping a trimesh, it will bounce off the heightfield and then sink into the ground. This fix solves the sinking into the ground, not the bouncing (and penetrating) of the trimesh. The problem was that GIMPACT stores the AABB internally, but the heightfield collider only adjust the AABB stored in dxGeom. Therefore the collision of a plane (in the heightfield collider) with the GIMPACT trimesh yielded strange results. The fix is that the heightfield collider now uses a temporary oriented BB to check for collision with any objects. If any BBs collide, the collider now rotates the plane instead of the colliding object.
See also discussion here: http://groups.google.com/group/ode-users/browse_thread/thread/50cba88cf73a5f37/6417b209750ce94a?lnk=gst&q=GIMPACT#6417b209750ce94a
(submitted by Tilmann Zaeschke, see patch discussion at http://sourceforge.net/p/opende/patches/161/ )
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