[ODE] spaces have bounding boxes?

[David Whittaker]

Well, I'm not anywhere near as familiar with the collision source as I am
with the physics source, but this is what I take that statement to mean. 
A space's bounding box initially takes no space.  When an object is added
to the space or an object inside the space moves, the object's bounding
box is calculated.  If any side of that bounding box lies outside of the
space's bounding box (or if this is the first object added), the space's
bounding box is expanded to include that object.  So a space's bounding
box is completely determined by the objects in the space.  At least that's
what I assume, maybe I'll tackle the collision source someday.

David

> ODE's manual contains this paragraph:
>
> "To speed up collision a separate space is created to represent each
> car.  The car geoms are inserted into the car-spaces, and the car-spaces
> are  inserted into the top level space. At each time step
> dSpaceCollide() is  called for the top level space. This will do a
> single intersection test  between the car-spaces (actually between their
> bounding boxes) and call the  callback if they touch. The callback can
> then test the geoms in the  car-spaces against each other using
> dSpaceCollide2(). If the cars are not  near each other then the callback
> is not called and no time is wasted  performing unnecessary tests."
>
> This implies that spaces have bounding boxes and position in world
> coordinates. I don't see any functions that allow me to specify position
> and  bounding box of spaces. So how does it work?
>
>
>
>
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