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pan narrans

Scaling to ellipsoid space

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I''ve implemented Paul Nettle''s collision detection/response algorithm and it works fine when using normal space and the coordinates of the centre of the character. However, I need to be able to use the bounding sphere/ellipsoid so that the character doesn''t walk halfway through each wall. Nettles paper describes scaling to ellipsoid space, but when I try to do this it ruins the collision detection completely! Does anyone know where I might find a better explanation, or even source code? I can''t find anything I can use

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