[ODE] UNSORTED TriList collision (no trees!)

[Ed Resnick]

Hi, I just found out about ODE today. I want to first use it for collision, but the geometry in my world is already sorted by me and it's fast and very memory-efficient. Therefore any collision library that creates trees for sorting geometry is bad. ODE makes this optional since geom spaces are optional, but things like RAPID and OPCODE do not.

Theoretically I suppose I could edit the RAPID/OPCODE code to ignore these but I'm not adept at poring over other's source code.

So my question is, has anyone written code to generate the contact points for blah-triangle collision, without any extra bloat? blah = sphere, cclinder, aabb, etc.

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