[ODE] does ODE need convex polyhedra collision?

[Aras Pranckevicius]

Hi,

I'm going to do a small research on distance and penetration depth methods
(flavours of GJK, LC, VClip etc.) for my computational geometry course.

Along that way, I think I might try to plug some of these into ODE's
collision system - that is, a new 'convex' collision class with all the
consequencies. Would that be good? :)

Any thoughts/recommendations on penetration depth algorithms?


Aras Pranckevicius aka NeARAZ
http://www.gim.ktu.lt/nesnausk/nearaz/