[ODE] Can a sphere have more than one contact in a time step?

[Nigel Singh]

I searched the manual and the entire mailing list archives for the answer to
this question, but didn't find anything.  My apologies if the answer to this
is obvious and I'm just not seeing it.

Can a sphere contact geom have more than one contact in a given time step?
It seems that when I try to access the contacts for a sphere when it is
obviously contacting two objects, I am only able to return a single
contact.  This contact seems to be w/ whichever object is the closest to the
center of the sphere.  Is this an assumption in ODE that the sphere contact
just takes into account the closest object?

Getting more than one contact for the box geom in a given time step seems to
work reliably.  I haven't checked any other objects but the sphere and box
geoms at the moment.

Granted that visually ode works to repel both contacting objects
successfully, but it is important for my application to be able to reliably
to know all the contacting objects to a sphere in a given time step and have
the ability to have more than one contact present at the same time step.  If
this is not possible it'll be very important to know so I could work around
it.

thanks!
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