Problem isolated

Well. Now I know that the problem is here:

Sdist3 result = scollide3(pA->GetSObject(), pA->GetFrame(), pB->GetSObject(), pB->GetFrame());
When this function is called from mpkCollDistAlgo::Collision(), the control never returns. I have checked the pointers of the objects received. No problem there. I have tested with different scenes. No problem there. I have two candidates now to be the problem:
a) The geometry of the model (i.e., the triangles obtained with the callBack in OpenInventor).
b) Function scollide3, in Quinlan's code.

The first is easy to check. The second would imply checking the whole original Quinlan's Collision Checker. Arrgggg !

If I cannot solve this by this afternoon I will check what can I do with PQP instead and propose that to David. I cannot loose more time in this hacking. Is not productive and I feel desperate that I cannot even think in other more interesting problems.

Ok. I checked that. The model sent is correct as well as the frames associated to them. Quinlan's code gets trapped at some point inside the search of the hierarchy. I don't think it would be a good idea to go deep in this direction. It will consume more time that what has already taken. I need to suggest something else.

One possibility would be to use the hierarchy that is built in MPK using the bounding boxes. I don't know now the details.