PT(OdeCollisionEntry) OdeUtil
Given two geometry objects that potentially touch (geom1 and geom2), generate contact information for...
dBodyID get_id() const
Returns the underlying dBodyID.
A class used to hold information about a collision that has occurred.
static int are_connected(const OdeBody &body1, const OdeBody &body2)
Returns 1 if the given bodies are connected by a joint, returns 0 otherwise.
static int are_connected_excluding(const OdeBody &body1, const OdeBody &body2, const int joint_type)
Returns 1 if the given bodies are connected by a joint that does not match the given joint_type,...