[ODE] Fixed stepping
Jon Watte (ODE)
hplus-ode at mindcontrol.org
Fri Aug 18 10:58:17 MST 2006
Megan Fox wrote:
> I would suggest not replacing the stepper function, as there remains a
> great deal of work that must be done per-step rather than
If that's the case, you simple call dWorldStep() with a value of 1.
To some people it seems crazy to run collision detection at a rate
different from simulation, but if you know that you can get away with
collision detecting 50 times a second, and then step 200 times a second
to get a harder "feel" in the integrator, there's no reason not to do
that. Your collision joints will still prevent penetration as appropriate.
In fact, I bet you can get a pretty decent simulation by pre-detecting
simulations using swept primitives, and pre-creating contact joints
before penetration. I must try that some time.
All this talk of changing the step function, alternate step functions,
etc, sounds no good to me. There is no reasonable use for variable step
sizes in ODE today. I'd prefer we set the step size on the world, and
tell the stepper functions how many steps to run, and leave it at that.
If you need variable step size, just change the world parameter before
The bonus would be that the impulse calculation functions would know
what to do without a manual step size argument.
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