Orbit target passes through heightmaps

[osrf-migration]

Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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Depending on the height of the heightmap, it may end up orbiting about a point far behind the surface of the heigthmap.

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Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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It also passes through some meshes, it looks like it depends on the distance between the user camera and the target. Clipping related?

It happens to the work-cell model for the ARIAC competition.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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The problem with terrains seems to be coming from the logic here:

https://github.com/osrf/gazebo/blob/216b3d4d0c6076ab65c7f608a8b1748c7f6e5c7f/gazebo/rendering/Scene.cc#L1182

Terrains are only checked if there are no other models intersected by the ray. So if there is something behind a mountain, or a ground plane under the terrain, that gets hit instead.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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For other meshes, I managed to narrow it down to a problem when checking for intersection against a triangle here:

https://github.com/osrf/gazebo/blob/216b3d4d0c6076ab65c7f608a8b1748c7f6e5c7f/gazebo/rendering/Scene.cc#L1144

Take the monkey wrench for example:

Some triangles pass the Ogre::Math::intersects check, while other triangles don't. I think there might be an error on the logic in Scene::MeshInformation when assigning vertices and indices.

I'm going to increase this to major, because it becomes quite difficult to navigate around complex meshes.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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• changed priority from "minor" to "major"

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Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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We could replace the some of the logic in Scene::FirstContact with RayQuery::SelectMeshTriangle and see if that helps. There's quite a bit of duplicate code there.

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Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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+1 to that

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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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see pull request #2688

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Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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It looks like pull request #2688 fixed both the heightmap case and the monkey wrench case. I'll close this but please do reopen / ticket a new issue if you see the orbit target passing through some mesh.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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• changed state from "new" to "resolved"