[ODE] Collision detection for arbitrary polytopes ?

[J. Perkins]

Marco Grubert wrote:
> Hey thatīs great news- I have been using Opcode for the past few months
> already, that should make things easy. But how do you deal with Opcode not
> supplying penetration depth ?

Opcode 1.1 does provide a penetration depth, at least for spheres,
I haven't looked at the other shapes yet. But the workaround is
to use Opcode to generate a list of colliding faces, then use a
more sophisticated test on those faces to determine the depth.

Jason
379