documented the class

panda/src/ode/odeUtil.cxx

@@ -16,38 +16,66 @@
 
 dReal OdeUtil::OC_infinity = dInfinity;
 
+////////////////////////////////////////////////////////////////////
+//     Function: OdeUtil::get_connecting_joint
+//       Access: Public, Static
+//  Description: Returns the joint that connects the given bodies.
+////////////////////////////////////////////////////////////////////
 OdeJoint OdeUtil::
 get_connecting_joint(const OdeBody &body1, const OdeBody &body2) {
   return OdeJoint(dConnectingJoint(body1.get_id(),body2.get_id()));
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: OdeUtil::get_connecting_joint_list
+//       Access: Public, Static
+//  Description: Returns a list of joints connecting the bodies.
+////////////////////////////////////////////////////////////////////
 OdeJointCollection OdeUtil::
 get_connecting_joint_list(const OdeBody &body1, const OdeBody &body2) {
   const int max_possible_joints = min(body1.get_num_joints(), body1.get_num_joints());
-
+  
   dJointID *joint_list = (dJointID *)PANDA_MALLOC_ARRAY(max_possible_joints * sizeof(dJointID));
   int num_joints = dConnectingJointList(body1.get_id(), body2.get_id(),
-					joint_list);
+          joint_list);
   OdeJointCollection joints;
   for (int i = 0; i < num_joints; i++) {
     joints.add_joint(OdeJoint(joint_list[i]));
   }
-
+  
   PANDA_FREE_ARRAY(joint_list);
   return joints;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: OdeUtil::are_connected
+//       Access: Public, Static
+//  Description: Returns 1 if the given bodies are connected
+//               by a joint, returns 0 otherwise.
+////////////////////////////////////////////////////////////////////
 int OdeUtil::
 are_connected(const OdeBody &body1, const OdeBody &body2) {
   return dAreConnected(body1.get_id(),body2.get_id());
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: OdeUtil::are_connected_excluding
+//       Access: Public, Static
+//  Description: Returns 1 if the given bodies are connected
+//               by a joint that does not match the given
+//               joint_type, returns 0 otherwise. This is useful
+//               for deciding whether to add contact joints between
+//               two bodies: if they are already connected by
+//               non-contact joints then it may not be appropriate
+//               to add contacts, however it is okay to add more
+//               contact between bodies that already have contacts.
+////////////////////////////////////////////////////////////////////
 int OdeUtil::
 are_connected_excluding(const OdeBody &body1,
-			const OdeBody &body2,
-			const int joint_type) {
+                        const OdeBody &body2,
+                        const int joint_type) {
   return dAreConnectedExcluding(body1.get_id(),
-				body2.get_id(),
-				joint_type);
+        body2.get_id(),
+        joint_type);
 }
-  
+