[ODE] Another question about contact joints

[Guru2012]

Thanks for the response. I think I was not sufficiently clear about my
circumstances.
Instead of implementing more geoms, I followed the instructions in the
manual and removed the collision code entirely, then defined my own typedef
for dGeomID and implemented my own methods for collision detection (using
the V-Clip algorithm). In addition, the contact joint is encapsulated in a
ContactJoint class I implemented, so the user does not actually touch the
ODE interface. The null geom occurs in the dContact.geom.g2 value in the
dContact the ContactJoint constructor passes in its call
to dJointCreateContact. Keeping in mind that g1 and g2 refer to my own data
type (pGeom), does ODE use the g1 and g2 values internally when resolving
contacts, stepping, etc?

Thanks,
Andrew


On 1/3/06, Jon Watte (ODE) <hplus-ode at mindcontrol.org> wrote:
>
>
> Most users expect both geoms to be non-NULL, because a contact is (by
> definition) between two geoms -- else there can't be a contact. To know
> that the geom is immovable, users usually check for the body ID of the
> geom, and if it's NULL, it's immovable.
>
> If you only use your contacts yourself, and this code is not intended
> for others, and your nearcallback/collision code knows how to deal with
> NULL g1/g2 fields, then I don't think you need to fill them out.
>
> Cheers,
>
>                        / h+
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