#6 Generate Contact Data

[Daniel Kramer]

I notice you don't create SIM_Impacts data on the
objects. This is fine, and I don't even know if the ODE
Solver is able
to provide equivalent information. But if it is
possible, outputting
impacts into SIM_Impacts data would allow the ODE
Solver to work with
the SOP Solver to do denting and other such effects.
You also need to be
able to generate and respond to SIM_Impacts data to
work with other
solvers (like the cloth solver). But given the way ODE
handles
constraints, I don't know how much luck you'll have
generating the
impact information you need when one of the objects in
the collision is
cloth (a deforming triangle mesh). But this is all
definitely more
advanced funcitonality which is not required for just a
solid RBD Solver.