[ODE] enhanced ODE collision API

[Russ Smith]

> How do you handle the case where a user creates a geom, attaches a body,
> disables it, and then calls dBodySetPosition() on it each step? I actually
> do this (the object gets enabled when it is touched), and it took me hours
> to find why the hell my object wasnt collision-detected (and thus enabled).
> Needless to say i was extremely unsatisfied when i found the bug.

tricky! the body will have to know what geom it is attached to and call
dGeomThisGuyMoved() when dBodySetPosition() etc called on it - which will
make sure the geom is in the dirty list.

> Because the geom's aabb would be computed while it is inside the space, and
> in the quadtree space it would be inside a node. Thus, enabling is faster
> than adding.

ok, good reason. i'll add dGeomEnable/Disable/IsEnabled.

russ.

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