[ODE] collision without ODE-geom

[Frédéric Marmond]

Hi all...

I wonder if somebody as succesfull try in collide without using ODE-geom.

I only set theses values:
      contact.surface.mode = dContactSoftERP | dContactSoftCFM;
      contact.surface.mu = dInfinity;
      contact.surface.soft_erp = 0.1;
      contact.surface.soft_cfm = 0.0;

      //depth of intrusion
      contact.geom.depth= the_depth

      contact.geom.pos[0]= the impact_X (in world coord)
      contact.geom.pos[1]=the impact_Y (in world coord)
      contact.geom.pos[2]=the impact_Z (in world coord)

      //the ground is the plan z=0
      contact.geom.normal[0]= the plane_normal_X (in world coord)
      contact.geom.normal[1]=the plane_normal_Y (in world coord)
      contact.geom.normal[2]=the plane_normal_Z (in world coord)

     // DON'T USE GEOM...
     contact.geom.g1=0;
     contact.geom.g2=0;

      dJointID c = dJointCreateContact (world,contactgroup,&contact);
      dJointAttach (c,body,0);

Is it OK? (geom.g1 and geom.g2 =0)