[ODE] does ODE need convex polyhedra collision?

[Sergio Valverde]

>>This isn't directly related to the concerns you raise, but it's worth
noting
>>that you may be able to use a "hack" to compensate for inaccurate
collision detection.

This is directly related if you plan to do realistic physical simulation,
that is, a simulation which computes torques correctly. 

Moreover, the trick you commented seems difficult to integrate within 
ODE framework: the Gino's trick is suitable for a impulse-based 
simulator not for ODE which uses a sort of analytical method 
(LCP and the like). I suspect that most algorithms based on 
single-contact detectors require some sort of backtracking (like the 
Mirtich approach) which is not very recommended for real-time games.
Moreover, the impulse approach requires tightly coupling between the
collision detector and dynamics integrator.

Sergi