[ODE] New ODE Collision detection

[David McClurg]

yes. i want to cull the things in the group one by one.  sub-spaces (or groups) are very important for efficient collision checking.  havoc has this but i'm not sure how they allow the user to control it.

any ideas yet on how to streamline the callbacks?  i liked Andy's suggestion about a general purpose event processing function the app can supply to ode.  or did i mis-understand?

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> >> * sub-spaces or putting objects in multiple spaces
> <snip>
> > Hmm. What about this? Place the occlusion walls in a seperate group, and
collide the rays against that group. Also place your group in your regular
space, so your normal collision detection also collides with them.
>
> The problem is that the near callback gets passed the group instead of the
geoms in the group.  This makes it hard to decide if you really want to
compute the collision.  I think it would be better if the near callback only
saw non-groups.

It shouldnt see *only* non groups, but i've planned to change this indeed.
You need to be able to cull them one by one. I'm not sure yet how i'll
implement this.