[ODE] Some remarks

[Russ Smith]

> I just built the boxstack example, pressed 'r', and pressed 'c' twice.
> The cylinders will not stack. If you're not having this problem it
> will probably be due to my modifications in ode, which i will post
> soon. I have implemented my quadtree space in the new collision
> system. This is much faster than the hash space for large amounts of
> objects.

hi erwin,

i have found and fixed the bug. the problem was in the capped cylinder
to capped cylinder collision code, it was failing to find cap-to-cap
contact points when the cylinder axes were parallel.

i found that fixing this bug in the existing code was somewhat
problematic, so i have actually completely reimplemented this case to be
faster, smaller, and more robust. the old ccyl-ccyl code has be retired
to scrapbook.cpp.

please let me know if there are any problems.

russ.

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