[ODE] Swept collisions?

[Gary R. Van Sickle]

> On Tue Sep 30 11:33:39 MST 2003, Mark Wayland (mwayland at
> torus.com.au) wrote:
>
> > Is anyone planning swept collision additions to ODE?
>
> Are swept collisions feasible to do with articulated rigid bodies? If so, how?
> My understanding of swept collision methods is that you assume each body moves
> unconstrained in a linear fashion over the course of the timestep, then you
> find the intersection point of the swept volumes. However with articulated
> rigid bodies, the motion over the timestep is likely to be constrained by
> joints.
>
> How could you account for this with a swept collision scheme?
>

Well, my answer to that would be, "better than with an intersection-only
scheme."  Aren't we essentially going from first- to second- order with a
linearly-swept volume scheme?

--
Gary R. Van Sickle
Brewer.  Patriot.