void nearCallback(void *data, dGeomID g1, dGeomID g2)
{
if (g1 == ground->id()) {
queueRemoval(g2);
return;
}
if (g2 == ground->id()) {
queueRemoval(g1);
return;
}
dBodyID b1 = dGeomGetBody(g1);
dBodyID b2 = dGeomGetBody(g2);
if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
return;
const int MAX_CONTACTS = 10;
dContact contact[MAX_CONTACTS];
int n = dCollide(g1, g2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
for (int i=0; i<n; ++i) {
contact[i].surface.mode = 0;
contact[i].surface.mu = 1;
dJointID j = dJointCreateContact (*world, joints.id(), contact+i);
dJointAttach(j, b1, b2);
}
}
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnected (b1,b2)) return;
// @@@ it's still more convenient to use the C interface here.
dContact contact;
contact.surface.mode = 0;
contact.surface.mu = dInfinity;
if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact);
dJointAttach (c,b1,b2);
}
}