[ODE] correctly using dContactGeom structur

Jaroslav Sinecky jsinecky at tiscali.cz
Thu Sep 28 10:30:13 MST 2006

Well this is the difficult part of collision routeen and it's really 
tough to make it optimal for all situations. I remember the 
cylinder/plane (or was it cylinder/triangle) code had a define to choose 
how many contacts should be generated when standing on cap. Yes, 3 
should be enough to stand still, but if you then hit the cylinder 
slightly is certain direction, it will fall over more easily than it should.
I can only say if two cylinders are standing one on the top of the 
other, more than 2 contatcs will be needed but as said here already 
before, good cylinder/cylinder collider will not be easy.

Christoph Beyer wrote:
> Jaroslav wrote:
>> For example cylinder standing flat on the plane returns 6 or maybe 8 contacts around 
>> the edge of the cap, ...
> why so much contacts, a cylinder should stand stable on 3 contacts?
> I think the least count of contacts would speed up the system.
> I intend to write a cylinder<->cylinder collision, which generates one or
> 2 contacts (if the cylinders are parallel or orthogonal together) .
> Is this too little?
> chris
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