[ODE] Mesh-CCylinder Implementation Again

[Vadim Macagon]

Ooops, I attached the update to my first email and it was too big to go
through, could the list admin please kill that message. I've submitted the
update via the patch tracker thing on Sourceforge instead.

> Hi,
>
> I've implemented some preliminary mesh/ccylinder collision, it currently
> only generates at
> most 1 contact which may be a problem in some cases (my test mesh is a
very
> simple flat plane consisting of a number of triangles - so this hasn't be
> rigorously tested yet :)). Main
> problem I've noticed with it is if you enable temporal coherence sometimes
> the capsule will be shot up into the air as one of its ends hits a shared
> edge, if I turn temporal coherence off this doesn't happen... don't have a
> clue why as yet.
>
> I've also added some functions to set/get the temporal coherence mode.
>
> void dGeomTriMeshEnableTC(dGeomID g, int geomClass, bool enable);
> bool dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass);
>
> Could someone please integrate this stuff into CVS? If it passes public
> scrutiny.
> Note that the collision_trimesh_ccylinder.cpp and
> collision_trimesh_distance.cpp
> should go into the ode/src directory.
>
> Oh and sorry Erwin, I slightly renamed some variables, I was having
> trouble distinguishing them from some of the types (BoxTC etc.).
>
> P.S.
> I'm still waiting for an answer to my mesh/sphere question :).
>
>
> Cheers,
>
> Vadim.
>