[ODE] Infinite sliding... ?
jmiles at pop.net
Wed Aug 16 16:23:35 MST 2006
> > // Also so this for angular vel with a coefficient greater than 1
> > const dReal* av = dBodyGetLinearVel(it->body);
> > dBodyAddForce(it->body, av * 2.0, av * 2.0, av * 2.0);
> Lookas all wrong. First, it uses the linear velocity. Second, it ADDS to
> the velocity (because 2.0 is not negative). Third, it still uses force.
> You probably want to write this as:
> dReal const * av = dBodyGetAngularVel(it->body);
> dBodyAddTorque(it->body, av * -0.03, av * -0.03, av * -0.03);
> However, you really DO need to enable auto-sleeping. That's how you get
> things to "stick" rock solid, in any simulator I've seen.
Note that auto-disabling works quite a bit better when you modify ODE to use
an average of the last few frames' velocity. That makes the auto-sleep test
more sensitive to jitter than to slow-motion movement, which is usually what
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