[ODE] Triangle-box collider contribution

[Adam D. Moss]

cAlen Ladavac wrote:
> It's safe. I gave the source snippet to asko with the specific intention to
> have it integrated into ODE. If some kind of written permission is needed,
> let me know.

Excellent, thanks -- I'll merge it.  (I don't think we'll
really need written permission on the assumption that email
negotiation/confirmation has been good enough for other
contributions, but IANAL.)

> P.S. If you want some other collider, I can provide snippets to any of our
> colliders if someone is willing to integrate (they use our core library to
> operate vectors and matrices, so it's not directly pluggable). We have all
> combinations of sphere, cylinder, capsule, box and triangle, except for
> triangle-triangle.

I believe that we don't have a working capsule-triangle case, so I
think that'd be most welcome.

Box-triangle was the most noticeable problem and this code seems
to address all of the glitches I'd hitherto noticed.

(Volunteers gratefully received for ODE-ifying the code, which would
be a good small self-contained project for anyone out there who would
like to contribute to ODE but doesn't know how!)

Our cylinder-anything code seems problematic, so that's another
good candidate (at the moment cylinders are only a contrib, not a
core primitive; I don't know whether it makes sense for ODE to
ever promote cylinders to a core primitive though).

How would such a porting happen -- would you require NDA, or
simply supply a block of code with its interfaces dangling?  If
the latter, we could at least put the code in a 'porters welcome'
directory somewhere (i.e. in ODE CVS).

Thanks for donating the box-tri collider, and to asko for porting it.

--Adam
-- 
Adam D. Moss   . ,,^^   adam at gimp.org   http://www.foxbox.org/   co:3