[ODE] Preventing contacts between connected bodies

[Jon Watte (ODE)]

I find that the documentation for dAreConnectedExcluding() in the manual 
is fairly clear, and explains the answer to your question succinctly.

Cheers,

          / h+


Brett Hemes wrote:
> 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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