[ODE] another collision detection question

[Martin C. Martin]

Benny Kramek wrote:
> 
> If two objects are just touching, do I need to make a contact joint?
> 
> In other words, is it neccesary to create a contact joint that would
> have a depth of zero?

If I understand contacts correctly (someone correct me if I don't), you
would want one with a depth of zero, to "discourage" interpenetration at
the next time step.  It's still a one sided constraint, that says "depth >
0 bad, depth < 0 good."

- Martin