[ODE] prescribed motion for one body and collision with another body

[Jacek Mazurkiewicz]

Is this true that:

-  ODE can not handle a collision between bodies if one of the bodies has
prescribed motion in form of position as a function of time?
- the only available solution is to define the prescribed motion in form of
speed/time and to use the desired motor velocity capability  ?

Would you like to confirm the above  or suggest other solutions?

Best Regards,
Jacek

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