[ODE] Silly theoretical question

[Jon Watte]

> Let's not forget that physics simulation methods are not from yesterday or 2
> years ago. Barraf wrote his papers back there in 1994, 95'... and now we are
> 10 years later not having anything "much" better. All LCP solving methods,


Have you seen Redon's work? He uses a continuous time simulation where 
collision detection is based on translation AND rotation, and he finds 
the exact time of intersection (including for triangle meshes). It's 
fairly computationally expensive, but could probably show up in a game 
any year now.

Cheers,

			/ h+