[ODE] bad normals in capsule->box collision ?

[Oleh Derevenko]

Hi, Russel

----- Original Message ----- 
From: "Remi Ricard"
To: "ODE Mailing List (E-mail)"

> The problem was created when the capsule and the box were barely
> touching each other by the sphere part. The "penetration" distance was 0
> and the vector from point on shell of the sphere to the point on the box
> was almost zero (1e-16 in the wrong direction) then this created a
> normal vector in the wrong direction.
>
> I also created a small test program that show the problem but I did not
> know how to solve it.

If a sphere touches anything, the normal vector is the radius vector of the 
sphere to the point of contact.

Oleh Derevenko