[ODE] Continuous collision detection for ODE

[Michael Goldish]

Hello all,


I've been working on a large modification to ODE, with these goals in mind:
- continuous collision detection
- stable trimesh-trimesh collisions
- mass ratio invariance (heavy things won't sink into the ground)

The resulting engine will be significantly slower but still useful for  
real time applications.


The modification replaces (or adds its own version of) the following:
- all collision detection routines
- dWorldStep
- dSolveLCP (small modification)
- some general utility functions, island processing, AABB tests


I'm not done yet, but I'm asking anyway in order to make sure I'm going  
the right direction:
if I complete the project and make it usable, could it theoretically be  
integrated into ODE, or will it have to be a separate independent engine?  
I'm asking this because I'd like to know how backwards compatible I should  
make my modification. If you think it's a bad idea to integrate it into  
ODE, then I'll be able to save time by writing dirtier code.


Thanks,
Michael