A Composite Convex Hull Collision Detector for the Open Dynamics Engine

We describe a collision detection system that can be used alongside the integrator and constraint resolver components of the open dynamics engine (ODE). The system provides contact detection between convex hulls (convex polyhedra), which was not availablewithin the main ODE project until very recently. It also includes direct contact detection between composite objects constructed of multiple hulls. The aggregation of hulls within the collision detection software allows contact culling to be performed, eliminating problems that inevitably arise with 3D assets when coincident contact points occur.