Re[2]: [ODE] Collision detection for arbitrary polytopes ?

[Pierre Terdiman]

> The problem is that in general you cannot combine the different
penetration
> depth vectors to a single penetration depth vector for all subparts.

Well, I wouldn't have done that. I would have recorded 2 (or more) contacts,
and let the simulator deal with it. Unless I'm missing something, it looks
like composite objects to me...

Sure, it can stress the simulator a bit :)

Pierre