[ODE] Negative penetration depths

don don_reid at attbi.com
Sat Sep 7 09:26:02 2002


> From: Raul Aguaviva <raul.aguaviva@powervr.com>
> 
> another solution is to make the integration step smaller, or inversely
> proportional to the speed of the moving objects

You could make it adaptive by noting the maximum velocity or movment
each step and then adjusting the future time step size accordigly.
Many simulators do things like this.  There are complications and risks
but it mostly works.

Don Reid