[ODE] correctly using dContactGeom structur
jsinecky at tiscali.cz
Thu Sep 28 05:58:18 MST 2006
Penetration is a volume, that's why normaly more than one contact is
returned to respect somehow the shape of the volume. For example
cylinder standing flat on the plane returns 6 or maybe 8 contacts around
the edge of the cap, if you'd generate only one contact, cylinder would
With respect to the penetration depth, the pos should be somewhere "in
the middle", in other worlds no geom should have any preference, you can
always create equivalent dContactGeom by swapping geom1 with geom2,
side1 with side2 and normal direction.
Christoph Beyer wrote:
> Well, i will ignore 'side1' and 'side2'.
> there is still one question open:
> the penetration is always a volume, so is 'pos' the middle of the penetration
> something else?
> i tested it and it works well in all penetration-pos methods,
> i think it is not very important for accuracy,
> but if i know the intended use, i can improve the accuracy
> a little bit.
> ODE mailing list
> ODE at q12.org
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