[ODE] Convex Geometry

[Jeffrey Smith]

Stephen say wrote:
> Just wondering if anyone has ever experiemented using a trimesh to simulate 
> a convex geometry (like a bucket for example). 

A bucket is actually conCAVE. Convex objects are locally spherical everywhere
(i.e. no cavities, dips or valleys).

But to answer your question, trimesh vs. primitive collisions are relatively stable,
but trimesh/trimesh collisions remain problematic.  An implementation of GJK/EPA
would fit well into ODE, if you're looking for a "fun" project.

-jeff