[Algorithms] Using RAPID within a rigid body simulator

[Pierre T. <p.t...@wa...>]

In rigid body simulations, one needs a correct estimation of the distance
and contact points between two bodies, in order to:
- backup the simulator in search of the exact collision time
- compute an accurate collision response

If you followed the recent GJK thread, you know this algorithm works well
for such tasks. But what about other collision detection methods? For
example, say I'm just using OBBs, as with RAPID. RAPID will detect
collisions, but won't give me a distance or a pair of closest points. Does
it mean it can't be used efficiently within a rigid body simulator ?

I think I'm missing something there.

Pierre