[ODE] Particles again, no torque on collide

Jacob Ole Juul Kolding dacobi at gmail.com
Wed Aug 16 21:09:15 MST 2006

I seem to be to have solves my previous problem with the particle system I'm
working on.
Simply reducing the step frequency from ~1kHz to 100Hz made to simulation
run stable at above 1000 particles.

But one problem still remains.
I use spheres for collision and when they collide with a plane (the floor)
they bounce ok but no torque is applied.

I create contact joint like this:

    int max_contacts = 10;
    dContact contacts[max_contacts];
    int num_contact =

    for(int i = 0; i < num_contact; i++){
        contacts[i].surface.mode = dContactBounce;
        contacts[i].surface.mu = 10;
        contacts[i].surface.bounce = 0.95;
        contacts[i].surface.bounce_vel = 0.15;
        dJointID c =

Any help appreciated.

/Jacob Kolding
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