[ODE] Collision detection

[Thomas Harte]

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>I noticed on my search for other collision detection engines that none seem
>to compute the penetration depth of a collision, short of SOLID 3.0, which
>seems to be unavailable (well, at least from the site www.libsolid.com), and
>DEEP, which I have tried to get a hold of (still waiting on a reply).

If you are in the mood for writing your own, a description of the method used by SOLID
is available at http://www.win.tue.nl/~gino/solid/gdc2001depth.pdf.

-Thomas

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