[ODE] Re: Virtual creatures (karl sims etc...)

[Gary R. Van Sickle]

> Any thoughts?  It'll be a few weeks before I get to implementing this,
> so if anyone can see any other pitfalls or options just let me know...
>
> - Martin

You might want to look at how Bart Barenbrug does this in DynaMo
(http://www.win.tue.nl/dynamo/).  He manages to get zero-penetration collisions
without any rewinding (at least on the first collision).

--
Gary R. Van Sickle
Brewer.  Patriot.