[ODE] ccylinder-box collision implemented
russ at q12.org
Thu Sep 12 22:07:01 2002
capped-cylinder-to-box collision has been (finally) implemented. you can
see it in action in the boxstack demo. there are a few points to note:
* a maximum of one contact point is generated between any cylinder and
box, although sometimes two would be better for increased stability.
thus when a cylinder is lying flat on top of a box it will jitter a
bit. this is the same problem that afflicts box-box contact. both of
these problem will be solved later (i.e. we'll eventually have the
complete set of contacts generated).
* with deep cylinder-box penetration (e.g. the cylinder pushed fully
into the box), the contact normal is not set in the most desirable
way to reduce penetration the fastest - instead the system might
take "the long way out". this should not be much of a problem in
practice. this will also be fixed later.
now all collision cases in ODE's default collision are implemented -
although box-box and box-cylinder need code for extra contact