[ODE] correctly using dContactGeom structur

Jon Watte (ODE) hplus-ode at mindcontrol.org
Sat Sep 30 10:12:48 MST 2006

Jaroslav Sinecky wrote:
> 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.
I disagree. The "normal" and "distance" are expressed in relation to a 
specific geom; the "pos" should be similarly specific to one geom.


          / h+

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