[ODE] dJointCreateContact

[Benny Kramek]

On Thu, 10 Apr 2003 23:21:20 +0100
"Brian" <brianclarkson@btconnect.com> wrote:

In my experience, the only field I needed in the geom struct were:
pos[0]
pos[1]
pos[2]
normal[0]
normal[1]
normal[2]
depth

I also set g1 and g2 to zero. I don't know why, or if this is necessary but I did it.

> Hi
> 
> Question for the join experts.
> I am not using the built in collision detection stuff. So I need to create my own dContact data for the contact 
> joint creation. The docs say that this data is created bt the collision detection dCollied() function. I fill in the surface stuff but there is a geom structure that holds pos, depth an normal that dCollied supplies. I can fill this too, but it looks to me like there's some other stuff in there (pointers to pos and rotation matrix etc). Can anyone tell me how much of this dContact data is needed by the contact joint at creation time.
> 
> Brian..  
>