[ODE] Anisotropic friction

Ivan Tanev itanev at mail.doshisha.ac.jp
Wed Dec 6 23:09:04 MST 2006

Dear All,

I would like to ask you to advise me about the simulation of the anisotropic 
friction in ODE. I tried to set the parameters of the contact of a body with 
the surface as follows:

contact[i].surface.mode   =  dContactSlip1 OR dContactFDir1;
contact[i].surface.mu        =  1;

contact[i].fdir1[0] = 1;    // high friction along X
contact[i].fdir1[1] = 0.1; // low friction along Y
contact[i].fdir1[2] = 0.1;

However,  it doesn't work properly, and the body doesn't seem to move along 
Y axis easier (than along X) when pushed by arbitrary forces at various 

Thanking in advance, and please apologize me if I have missed something from 
the docs or ML archive.


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