[ODE] High level collision detection strategy

[David McClurg]

> Calculate the total AABB of the car every frame.

isn't that accomplished with hierarchical spaces (spaces in spaces)?

0.035 release...

"A new collision system that supports hierarchical spaces, has the ability to collide spaces with single geoms, and has the ability to collide spaces together. Geom groups are now spaces, geoms now have 'category' and 'collide' bits for early culling, the behavior of various functions is more well defined, and geoms can be disabled/enabled. Internally, the collision system is now optimized for larger environments."

http://opende.sourceforge.net/ode-latest-userguide.html#ref3

i think the single geom collision will allow you to do the ray test efficiently.