[ODE] LCP internal error

[Daniel Marbach]

What exactly is the reason for an LCP internal error?

ODE Message 3: LCP internal error, s <= 0 (s=nan)

Sometimes, after getting these warnings, my program crashes (ILLEGAL
INSTRUCTION).

Is there a way to detect such an error and to abort the simulation when it
occures? What I would like to do is something like this:

// the simulation loop
loop {
   ...
   // suppose dWorldStep would return -1 if there's some kind of problem
   // (it doesn't, I'm just trying to illustrate what I would like to do)
   if (not dWorldStep())
      break;
   ...
}

Thanks!

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Daniel Marbach
Bitziusstr. 9
CH-3006 Bern

Tel: 031 351 11 09
WWW: http://icwww.epfl.ch/~marbach/
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