[ODE] collision detection optimalizations for humanoid

[Piotr Obrzut]

Hi,

   for some time i'm making some optimalization work on col. det.
   system for mine humanoid model (on the "bottom" level it have about
   40 boxes whichs collisions must be tested so it runs very slow, even
   with only 2 models...). Mine questions are:

   1)is there any general method solving fast collision detection
   for humanoid (or similar) model?

   2)could someone experienced show me the direction? (for now i was
   making some test on making greater boxes "above" mentioned "bottom"
   boxes, now only with precomputed boxes, but i'm considering boxes
   with changeable size)

-- 
greetings,
 Piotr Obrzut                       mailto:piotr_obrzut at o2.pl