def nearCallback (data, o1, o2):
## exit without doing anything if the two bodies are connected by a joint
b1 = ode.dGeomGetBody(o1)
b2 = ode.dGeomGetBody(o2)
if b1 and b2 and ode.dAreConnected (b1,b2):
return
## @@@ it's still more convenient to use the C interface here.
contact = ode.dContact()
contact.surface.mode = 0
contact.surface.mu = ode.dInfinity
if ode.dCollide ( o1,o2,0,contact.geom,sizeof(ode.dContactGeom) ):
c = dJointCreateContact (world.id(),contactgroup.id(),&contact)
ode.dJointAttach (c,b1,b2)
