[ODE] Collision callback problems

[maddocks@metservice.com]

I've been handling collision testing in my car sim by iterating through 
my wheels and calling dCollide on each against a ground plane. I've 
decided to change to using the nearCallback but  I'm having some 
problems. My call back is as follows...



     void Practice::CollisionCallback( dGeomID o1, dGeomID o2)
     {
         dBodyID body1 = dGeomGetBody( o1);
         dBodyID body2 = dGeomGetBody( o2);

         if( body1 && body2)
         {
             if( dAreConnected( body1, body2))
             {
                 return;
             }
         }

         const unsigned int CONTACTS = 10;
         dContact contact[CONTACTS];
         int n = dCollide( o1, o2, CONTACTS, &contact[0].geom, 
sizeof(dContact));

         for( int i = 0; i < n; ++i)
         {
             contact[i].surface.mode = dContactBounce | dContactSlip1 | 
dContactSlip2;
             contact[i].surface.mu = 5000;
             contact[i].surface.slip1 = 0.0001;
             contact[i].surface.slip2 = 0.0001;
             contact[i].surface.bounce = 0.1;
             contact[i].surface.bounce_vel = 0.01;

             dJointID c = dJointCreateContact( odeWorld->id(), 
odeJointGroup->id(), &contact[i]);
             dJointAttach( c, dGeomGetBody(contact[i].geom.g1), 
dGeomGetBody(contact[i].geom.g2));
         }
     }

When I run this the wheels of the car are pushed horizontally away from 
the car body. The problem appears to be that I'm getting collisions 
between the car body and the wheels despite explicitly rejecting them. 
The wheels are connected to the body with Hinge2 joints.

Can anyone shed some light on what might be going wrong or how I should 
debug it?

Henry


Try not. Do or do not. There is no try. Yoda,Jedi Master