[ODE] correctly using dContactGeom structur

Christoph Beyer boernerb at web.de
Wed Sep 27 10:28:37 MST 2006

I am writing on a cylinder/cylinder-collision code and want to know
how to fill the dContactGeom-structur correctly:

1. is 'pos' the middle of the penetration or the end of the penetration 
of one geom?
    if "of one geom", then which geom?

2. is 'depth' the whole depth of the penetration, or only the half?

3. is 'normal' the direction to move away from the contactpoint for 
geom1 or for geom2

4. what is 'side1' and 'side2' an how to fill it?



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