[ODE] new trimesh vs trimesh code

[Jon Watte (ODE)]

Oleh Derevenko wrote:
> corrections would not cover complete scope of collision related code 
> then. And I can't fix that because it is impossible to implement 
> reliable hashing for unlimited data size in fixed size hash table.

You leave it, or you fix it.

Merging contacts through hashing is totally possible, although you have 
to examine 27 (or 8) hash buckets for potential neighbors to merge, 
rather than just the bucket you find.

Or, because collision merging is an inexact art anyway, don't merge if 
two contacts happen to fall in different buckets, even though they are 
close.

It sounds to me as if the only thing needed to make this code "correct" 
is to make sure that, when you get a hash collision, only merge if the 
two contacts are in fact "close" to each other. But I haven't looked at 
the code; I only go off of your description.

Cheers,

          / h+