[ODE] Penetration Depth and Point of Contact

[Charles James Leonardo Quarra Cappiello]

  Hi,

  Im working on a Collision Detection system for deformables/solids for 
which i want to make interactions between ODE primitives and deformables, 
but im aware that ODE needs the point of contact and the Penetration Depth.

Now, my CD system find time of intersection between timesteps, times are 
given 0.0 for current position (cannot move further) and 1.0 for next 
position (can move freely), now i want to know if this information, with the 
point of contact and the positions on different timestep, hence the 
velocities vectors is enough data to feed ODE with?

I've seen the formula around:

Penetration_Depth = abs (velocity * time_of_contact)

is this formula accurate? i have precise knowledge of time of contact


  Greetings






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