[ODE] enhanced ODE collision API

[Russ Smith]

> does that mean a geom cannot be placed into two different groups?  not
> a big deal, but i'm curious.

they can't, yes. any reason you would want to?

> one other common concept in collision detection is a ghost or phantom
> geom used as a sensor.  you don't bounce off it -- you just detect a
> penetration.  ie: what you want is just detection of the collision and
> not the contact information.  it would be nice if there was a built-in
> type called 'sensor' or something that didn't do the extra work of
> computing the contact point/normal.

hmmmm ... perhaps a flag defined for dCollide() that instructs it to just
return 1 or 0 depending on if there is intersection or not. at last a use
for the flags parameter! this would mean touching ALL the pairwise
collision functions - this is lower down the TODO list for now because
you can just use dCollide() as-is, although it might be slower
than you like.

russ.

--
Russ Smith
http://www.q12.org/