[ODE] Some remarks

[Russ Smith]

> dGeomSetBody asserts on CHECK_NOT_LOCKED, but this isnt always
> correct.

do you have a situation where the assertion is invalid?
a comment in collision_kernel.h says that: "the space is locked when it
is currently traversing its internal data structures, e.g. in collide()
and collide2(). operations that modify the contents of the space are not
permitted when the space is locked". the idea is that if you call
dGeomSetBody() (or any other function that modified geom state) then
that might break assumptions that the collision code make be making
during a collide.

> CCylinder-CCylinder collision doesnt work
> correctly. The top one sinks for about 50% into the other, and then
> suddenly they notice the collision, and pop out.

can you post some code that illustrates this problem? i have not noticed
it before.

russ.

-- 
Russell Smith
http://www.q12.org