[ODE] new ODE collision

[Erwin de Vries]

Looking good. Some comments:

- Remember to add dGeomMoved() calls inside of all Set functions of a geom.
Also SetRadius, etc.
- I think the destructor of a geom needs to tell the body it might be
attached to that it wants to remove itself. Otherwise the body will use this
geom in its linked list after it has been destroyed, which crashes.
- When adding the ray class we should think about what the 'penetration
depth' should be. Do you have any thoughts on this?
- Why do you memcopy inside the dxSpace::computeAABB() function?
- Should we add support for a user defined, or infinite AABB on demand for
spaces? This is really useful for the quadtree space containing huge (10.000
for example) amounts of geoms. If i would remove a single geom it would need
to do a lot of work.

Its very nice to see how you transformed parts of my code to work with your
(existing) code, resulting in the best of both worlds. Great job.

Erwin


----- Original Message -----
From: "Russ Smith" <russ@q12.org>
To: <ode@q12.org>
Sent: Friday, November 08, 2002 06:02
Subject: [ODE] new ODE collision


>
> if you're curious, the source files for the new collision infrastructure
> have been checked into CVS (collision_*.h, collision_*.cpp). it has not
> been hooked up to the rest of ODE yet, so the only reason i mention it
> is for the curious. note that there's still a bunch of stuff to do, in
> particular to hook up the ray, trimesh and cylinder classes, and to
> convert the hash table space to use an incremental approach ... but you
> can get an idea of the new layout.
>
> the new collision infrastructure is 99% API compatible with the old, but
> i'll provide an ODE 'legacy' collision option so that existing code is
> guaranteed not to break - but all new collision development will go on
> the new infrastructure.
>
> russ.
>
> --
> Russell Smith
> http://www.q12.org
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