[ODE] friction and restitution

[Dimitris Papavasiliou]

I'm writing a program were you define an arbitrary bunch of bodies in the 
world with their various parameters and then simulate it and I'm having 
trouble with collisions. The problem is that I don't want to have to specify 
the coefficients of restitution and friction (bounce and mu) for every body 
pair that might potentially collide (and it wouldn't be very easy to look up 
each pair fast when creating contact joints, either).

So isn't there a way to define some sort of friction and restitution 
coefficients *per body* not per pair and then be able to calculate the 
coefficients for the pair from them? It wouldn't have to be perfectly 
accurate I suppose but relatively fast to compute.

Dimitris