[ODE] Preventing contacts between connected bodies

[Brett Hemes]

Looking through the sample code I have noticed the following code in  
the nearCallbacks:

dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnected(b1, b2))
	return;

and

dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact))
	return;

The benefit of the second is not completely clear to me.

Also would it help to have a line:

if(b1 == b2) return;

for composite objects?

Thanks,
Brett




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