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

[Remi Ricard]

Hi Oleh,
> 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.
>   
This is true for a hard sphere.

But with ODE there can be some penetration. Ode use (I think) this 
penetration distance to find the normal vector and this is why sometime 
I get and inverted normal.

Remi