[ODE] Disabling geometries

Jon Watte (ODE) hplus-ode at mindcontrol.org
Thu Sep 21 08:04:58 MST 2006

Known bug.

I think disabling geometries only works with dWorldStep(), not any of 
the fast steppers (if I remember right from the last time I checked into 


          / h+

Matthew Reid wrote:
> Hi.
> I'm having some problems with disabling geometries with dGeomDisable(). When 
> I disable a geometry, I find that it still generates contacts. The state of 
> the geometry in the collision call back is usually shown as enabled, 
> although it sometimes shows up as being disabled. I've tested this with 
> capsules, spheres, and boxes against rays and trimesh.
> I have two questions - what's causing the geometry to be automatically 
> re-enabled? And how is it possible for a disabled geometry to generate 
> contacts?
> Thanks,
> Matthew
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