[ODE] Infinite sliding... ?

Jon Watte (ODE) hplus-ode at mindcontrol.org
Wed Aug 16 12:42:15 MST 2006

First, you should probably use a mu that's not infinity. Try 10.

Second, you need to make sure you use fixed time steps. All calls to 
dWorldStep() (or the faster equivalents) need to pass in the same value 
for delta-time -- no exceptions!

Third, you may want to enable auto-sleeping (disabling) of bodies at 
rest, if it isn't already.

Fourth, you probably want to add dampening forces and torques to each 
non-sleeping body for each step. There's an entry in the FAQ/Wiki about 
this, IAICR. The most important part is actually the dampening torque, 
in my experience.


/ h+

Jeff Kershner wrote:
> I have a room where I drop random boxes. The boxes seems to collide 
> very accurately but don’t ever stop moving.
> I am using surface mode dContactFDir1 | dContactApprox1 with mu = 
> dInfinity. Everything else in that structure is zeroed out.
> The floor is a geom without a body so that it will never move like it 
> says in the FAQ.
> Any suggestions?
> /jk
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