[ODE] Trimesh CCylinder collision patch

[Panayoti]

As I said, it's not perfect, but it's definitely more stable than the
original box v. trimesh code (ie: the code in 0.39), and I think good
enough to be included with the next ODE distribution (especially, I
feel, that this might result in other people being able to fix any of
the minor problems with Vadim's implementation).

Thanks for the useful patch, Vadim.

Panayoti

////////////////////////////////////////////////////
Date: Fri, 23 Jan 2004 16:47:59 +1300
From: "Vadim Macagon" <vadim_mcagon at hotmail.com>
Subject: [ODE] Trimesh CCylinder collision patch
To: "ODE List" <ode at q12.org>
Message-ID: <BAY2-DAV19aPs05lRfO0000feea at hotmail.com>
Content-Type: text/plain; charset="iso-8859-1"

Hi,

The attached patch adds support for trimesh/ccylinder collision,
currently
it only generates one contact point.

The patch was generated against current anon CVS, the zip contains a
makefile.patch that you should extract to the directory where you
checked
out ODE and then apply it. Extract the other files to
path_to_ode/ode/src
and apply the remaining patch. Then rebuild ODE and the trimesh tests
(which
apparently are already setup for ccylinders - you can drop some
ccylinders
by pressing "c")

Panayoti has kindly given it a try already, hope he doesn't mind if I
quote
him :)

"Most of the time they do just fine, but if a capsule appears in the
mesh,
or
gets thundered into one from stacking, it'll do some weird spinning
action while trying to fight it's penetration."

It'd be nice to see this go into CVS if people think it's good enough to
be
useful at this stage.


Cheers,

Vadim.