[ODE] Ways to contribute brainpower to ODE? (Higher order integrator?)

[Rodrigo Hernandez]

I cannot say for sure whether you're right or wrong, but your conclusion 
is the same one I arrived at, specialized tests might be less flexible 
than a general one,
but so far, they're less inestable and take less CPU cycles than at 
least the (general) GJK algorithm.

Jaroslav Sinecky wrote:

> Yes, for convex hull there is already Bullet library implementing GJK 
> and the new implementation by Rodrigo. I tried the Bullet-ODE 
> integration couple months ago, and it worked, but my frame rates 
> dropped deep deep bellow interactive. I don't know if it got any 
> better since (Erwin?)
> At the end, my impression was that costume collision code for each 
> primitive pair will probably always beat general convex hull 
> algorithms in terms of performance. Or am I wrong?
>
> Jaroslav