[ODE] Convex Volume Geom

[Rodrigo Hernandez]

ode at erwincoumans.com wrote:

>For games GJK is a good solution in my experience. Did you know that even 
>commercial engines succesfully use GJK for their convex collision detection? 
>
>Erwin 
>
>  
>
I dont want to sound defiant, because I am not, but which games? I am 
curious because I would like to check them out and see how they do 
perform, the only instance where I have seen GJK related to a game was 
on the Torque Game Engine code, later I discovered that the GJK code in 
it wasnt even being used, in fact I was pretty much set on getting GJK 
to work, since it represents the silver bullet for ALL convex shapes, 
but I gave up when a) found myself adding too many patches to the 
algorithm for numerical instability contingency and b) couldn't find any 
games which actually claim to use a form of GJK.

All in all, it seems to me that the main advantage for GJK is the fact 
that it works on any convex shape colliding against any convex shape, it 
doesn't really perform any faster or better than using specific 
algorithms for specific shapes like ODE does, specially if you also need 
penetration depth or continuous collision detection.

This of course, is just my opinion.