collision callback

Hi,

is there a way to get feedback if an object hits
another one? Something like a callback function on
collision?

Or maybe someone has another idea how to solve my
problem: I try to extend the SuperWalker demo and what
any Creature does when the "foot" hits the floor is to
increse the force to support its body weight. So I
need to know somehow if a "limb" touches the floor. It
would be perfect if I also knew if a limb hits the
body or another limb or an obstacle, but that would be
next ...

Also great would be to know the current orientation of
each limb.

Any help is like always cordially appreciated.

Best regards, Peter Frisch


	

	
		
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