[ODE] Performance patch : not checking collision between disabled bodies

[Nguyen Binh]

Hi Konstantin,


KS> Imagine a stack of small boxes which are already disabled.
KS> Another big box touche them simultaneously from stack side.
KS> As far as only the big box was enabled during colliding we create
KS> contacts between big box and small boxes but do not create contacts
KS> between small boxes. While WorldStep all boxes will be enabled and
KS> boxes in the stack start to fall knowing nothing about each other and
KS> static environment. If we have not too small stepsize and world
KS> gravity the stack would explode in this case.

KS>   Colliding:
KS>              ______
KS>   [disabled]|      |
KS>   [disabled]|enabed|
KS>   [disabled]|      |
KS>   [disabled]|______|

KS>  WorldStep
KS>            ______
KS>   [enabed]|      |
KS>   [enabed]|enabed|
KS>   [enabed]|      |
KS>   [enabed]|______|

      Well, interesting case! But I had experimented this and it works
      just fine.
      As long as the small boxes enabled, right after that they will
      be fed to collision detection code.


-- 
Best regards,

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   Nguyen Binh
   Software Engineer
   Glass Egg Digital Media
   
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