OdeTriMeshGeom no collision (solved)

Scripting Issues
#1

Hi all,
I’m playing with panda and ode built in. I have no collision with OdeTriMeshgeom and I don’t know what I’m doing wrong. I surf the net over two days trying to find a solution, but with no succesfull. Someone can help me please?

In this code the ball collide with the plane (groundGeom) but not with trimesh (worldGeom).

I try to debug with lines worldGeom but it look ok.

import direct.directbase.DirectStart
from pandac.PandaModules import * 
from direct.gui.OnscreenText import OnscreenText
from direct.actor.Actor import Actor
from direct.task.Task import Task
from direct.showbase.DirectObject import DirectObject
from direct.directtools.DirectGeometry import LineNodePath
import random, sys, os, math

class Entity():
	#constructora
	def __init__(self, render, model = None, body = None):
		self.render = render
		self.model = model
		self.body = body

	#set model and body
	def setModelBody(self, model, body):
		self.model = model
		self.body = body
	
	#update
	def update(self):
		self.model.setPosQuat(self.render, self.body.getPosition(), Quat(self.body.getQuaternion()))

class Game():
	#Constructor
	def __init__(self):
		self.deltaTimeAccumulator = 0.0;
		self.slowMotion = False
		self.entities = []
		#Ode world
		self.world = OdeWorld()
		self.world.setGravity(0, 0, -9.81)
		#surface table
		self.world.initSurfaceTable(1)
		self.world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
		# The surface table is needed for autoCollide
		self.world.initSurfaceTable(1)
		self.world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
		#Create space
		self.space = OdeSimpleSpace()
		self.space.setAutoCollideWorld(self.world)
		self.contactgroup = OdeJointGroup()
		self.space.setAutoCollideJointGroup(self.contactgroup)
		#init world
		self.lines = LineNodePath(parent = render, thickness = 3.0, colorVec = Vec4(1, 0, 0, 1))
		self.initWorld()
		#self.space.enable()
		#lines
		
		
	def initWorld(self):
		worldModel = loader.loadModel("models/world")
		worldModel.reparentTo(render)
		
		worldBody = OdeBody(self.world)
		worldMass = OdeMass()
		worldMass.setBox(10, 1, 1, 1)
		#worldBody.setMass(worldMass)
		
  		worldTrimesh = OdeTriMeshData(worldModel, True)
		worldGeom = OdeTriMeshGeom(self.space, worldTrimesh)
		worldGeom.setBody(worldBody)
		worldGeom.setCollideBits(BitMask32(0x00000001))
		worldGeom.setCategoryBits(BitMask32(0x00000001))
		worldBody.setPosition(worldModel.getPos(render))
  		worldBody.setQuaternion(worldModel.getQuat(render))
		
		ball = loader.loadModel("smiley")
		ball.setPos(-15,-15,11)
		ball.reparentTo(render)
		M = OdeMass()
		M.setSphere(50, 1)
		body = OdeBody(self.world)
		body.setMass(M)
		body.setPosition(ball.getPos(render))
		body.setQuaternion(ball.getQuat(render))
		ent = Entity(render, ball, body)
		self.entities.append(ent)
		ballGeom = OdeSphereGeom(self.space, 1)
  		ballGeom.setCollideBits(BitMask32(0x00000001))
  		ballGeom.setCategoryBits(BitMask32(0x00000001))
  		ballGeom.setBody(body)
  		groundGeom = OdePlaneGeom(self.space, (0, 0, 1, 0))
		groundGeom.setCollideBits(BitMask32(0x00000001))
		groundGeom.setCategoryBits(BitMask32(0x00000001))
		
		if False: # checking the data
			self.lines.reset()
      			print "self.odeGeom.getNumTriangles()", worldGeom.getNumTriangles()
      			for i in xrange(worldGeom.getNumTriangles()):
       				x = Point3(0)
        			y = Point3(0)
        			z = Point3(0)
        			worldGeom.getTriangle( i, x, y, z )
                    		self.lines.drawLines([(x,y),(y,z),(z,x)])
  				self.lines.create()
        			#print x,y,z
        				
	#Update physics
	def updatePhysics(self):
		for i in self.entities:
			i.update()
	
		
game = Game()

##################################################################
#60 fps
stepSize = 1.0 / 60.0

def simulationTask(task):
	global game
	game.deltaTimeAccumulator += globalClock.getDt()
	
	while game.deltaTimeAccumulator >= stepSize:
	 	game.space.autoCollide()
		game.deltaTimeAccumulator -= stepSize
		# Step the simulation
    		game.world.quickStep(stepSize)
    		game.updatePhysics()
    	#game.space.empty() 
    		
    	return task.cont
    	
taskMgr.doMethodLater(5.0, simulationTask, "Physics Simulation")

####################################################################

#run
run()

PD: Sorry for my english.
PD2: Sorry for my code if it is not very clear. I’m new on panda3d and I’m playing with it.
PD3: Some code example or tutorial will help alot !!

thanks

edit: Finally I found the error! Line: worldGeom.setBody(worldBody) doesn’t go.