[ODE] Static objects start rotating?

[Flavien Brebion]

James Frye a écrit :
> The nearCallback code is
>
>   b1 = dGeomGetBody (o1);
>   b2 = dGeomGetBody (o2);
>
>   /* exit without doing anything if the two bodies are connected by a joint */
>
>   if (b1 && b2 && dAreConnected (b1, b2))
>     return;
>
>   contact.surface.mode = 0;
>   contact.surface.mu   = 0.1;
>   contact.surface.mu2  = 0.0;
>   if (dCollide (o1, o2, 0, &contact.geom, sizeof (dContactGeom)))
>   {
>     c = dJointCreateContact (world, contactgroup, &contact);
>     dJointAttach (c, b1, b2);
>   }
>
> This was copied straight out of one of the test programs.  (After, of
> course running it through indent to de-obfuscate it.).
>   
That looks seriously wrong IMO, unless it's a copy/paste error. You're 
only using one contact, while you should provide space for many contacts 
( 64 is a pretty good start choice ). Also, the third argument should 
not be zero, but the max number of contacts. Look again at the test 
programs.