[ODE] Contact point position in ContactJoint

Daniel K. O. danielko.listas at gmail.com
Thu Aug 9 06:50:51 MST 2007

2007/8/9, tsr <tsr at fenix.katowice.pl>:
> I want to draw contact points in my simulation. It is possible to get
> positions of contact points from ContactGroup? How can I get Positions
> of contact points?

The dContactGeom struct is:

struct dContactGeom {
 dVector3 pos;    // contact position
 dVector3 normal; // normal vector
 dReal depth;     // penetration depth
 dGeomID g1,g2;   // the colliding geoms

So just use the "pos" field.

Daniel K. O.

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