![]() | The depth to which the two bodies inter-penetrate each other. If the depth is zero then the two bodies have a grazing contact, i.e. they "only just" touch. However, this is rare - the simulation is not perfectly accurate and will often step the bodies too far so that the depth is nonzero. |
![]() | The geometry objects that collided. |
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![]() | A unit length vector that is, generally speaking, perpendicular to the contact surface. |
![]() | The contact position in global coordinates. |
![]() | (to be documented) - verbatim from the ODE source. |
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Ode.dContactGeom Class | Tao.Ode Namespace