[ODE] Collision detection for arbitrary polytopes ?

[J. Perkins]

Nate W wrote:
> http://q12.org/cgi-bin/cvsweb.cgi/ode/contrib/tri-collider/
> 
> I am using it to do collision detection against height-mapped terrain, and
> it's working nicely.

I'll take this opportunity to say that OPCODE 1.1 makes this
integration with ODE a lot easier. I had no trouble getting
a sphere-mesh test working within a day. If I ever get the
chance to add tests for the other primitives I will package
it up as a contrib, but for now you can get the source from
my project at:

	http://www.379.com/f4/

Look here:

	F4/Services/Collider/Src/mesh.cpp

(Thanks to Pierre for the lib and his help getting it working).

Jason