[ODE] Cylinder collisions?

[Peter Onion]

On Mon, 2005-11-21 at 19:46 +0000, Peter Onion wrote:
> On Mon, 2005-11-21 at 19:08 +0000, Peter Onion wrote:
> 
> Are there any plans to include cyl-cyl collisions soon ?  There is a
> comment in the cyl2 readme that says someone is working on it.  I'de
> offer to have a look myself, but the reason I'm using ODE in the fisrt
> places is because my understanding of 3D maths is pretty poor.
> 

I was looking in the archive and I found his post
http://q12.org/pipermail/ode/2005-October/016927.html
which suggests using two geoms (a sphere and a box) to model a disk,
which is more or less what I want, but I'm a bit unsure as to what has
to go in the  nearCallback.  I have some ideas so I'll give it a try.

Peter