def ODE_callback(self, args, geom1, geom2): """Callback function for the collide() method. This function checks if the given geoms do collide and creates contact joints if they do. """ # Check if the objects do collide contacts = ode.dCollide(geom1, geom2) # Create contact joints world, contactgroup = args for c in contacts: c.setBounce(0.2) c.setMu(5000) j = ode.ContactJoint(world, contactgroup, c) j.attach(geom1.getBody(), geom2.getBody())