[ODE] collision matrix

Sat Apr 22 07:44:36 MST 2006

I think the main problem is not to find whether a collision has happened  
or not, but the actual contact joints positions and depths.

On Sat, 22 Apr 2006 16:14:57 +0200, Jaap Stolk <jwstolk at gmail.com> wrote:

> On 4/22/06, Bram Stolk <bram at sara.nl> wrote:
>> - cyl vs cyl is a very hard one. I'm affraid it takes
>>   a mathematics Phd to do this properly. I did see a
>>   paper with an algorithm for this though, floating on the net.
>>   No sample code though.
> There is a formula for finding the smallest distance between the two
> (center) lines (and the points on the lines where the shortest
> distance is. (this can even be done for any N-dimensions) If the
> distance is less than the sum of the radius of both cylinders, and the
> closest points are within the length of each cylinder, it's a hit.
> for a capsule, check the distance from the the center line to the end
> of the other cylinder.
>
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-- 
Saludos,
     STenyaK

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