[ODE] detecing sliding wheels?

[Chris Ledwith]

> Would this work? Is there an ODE API call to detect a sliding contact?
> What would be the best approach for this?
>

I don't think there is a sliding contact call in ODE per se, but since you
can obtain the "ground" geom that the wheel's geom is in contact with from
the array of dContactGeom structure filled in by dCollide(), you can then
get the body that "ground" geom belongs to. Then you can get the linear
velocity of that body (the physical truck) and subtract it from the car's
linear velocity to get the relative linear velocity.

-C