def near_callback(self, args, geom1, geom2):
# Check if the objects do collide
contacts = ode.collide(geom1, geom2)
# Create contact joints
self.world,self.contactgroup = args
for c in contacts:
c.setMode(ode.ContactBounce)
c.setBounce(0.2)
c.setBounceVel(0.15)
c.setMu(250.0)
j = ode.ContactJoint(self.world, self.contactgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
def _nearcb(self, args, geom1, geom2):
"""
Create contact joints between colliding geoms.
"""
body1, body2 = geom1.getBody(), geom2.getBody()
if (body1 is None):
body1 = ode.environment
if (body2 is None):
body2 = ode.environment
if (ode.areConnected(body1, body2)):
return
contacts = ode.collide(geom1, geom2)
for c in contacts:
c.setBounce(0.2)
c.setMu(10000)
j = ode.ContactJoint(self.world, self._cjoints, c)
j.attach(body1, body2)
