[ODE] No plane v/s box collision

[Yung-Chang Tan]

With step_size = 0.05, there's no way you can use gravity of -9.81 m/s^2.
Use gravity = -0.5 m/s^2. Reduce step_size if you want more realistic
gravity value.

On 12/4/06, George Laskowsky <glaskows at alumnos.inf.utfsm.cl> wrote:
>
> Hi,
>
> I am trying to stack some boxes above a plane. I am using x-right,
> y-up, z-out coordinate system.
> My sim values are:
>         ERP 0.2
>         CFM 1e-5
>         Contact Surface Layer 0.001
>         World Gravity (0.0, -9.81, 0.0)
>         Step Size 0.05
>
> I created the plane using
>         dCreatePlane (espacio, 0, 1, 0, 0);
>
> The callback collision function is
>
> static void callback (void *data, dGeomID o1, dGeomID o2) {
>   dBodyID b1 = dGeomGetBody(o1);
>   dBodyID b2 = dGeomGetBody(o2);
>   dContact contact[MAX_CONTACTS];
>   for (int i = 0; i < MAX_CONTACTS; i++)
>   {
>     contact[i].surface.mode = dContactBounce | dContactSoftCFM;
>     contact[i].surface.mu = dInfinity;
>     contact[i].surface.mu2 = 0;
>     contact[i].surface.bounce = 0.01;
>     contact[i].surface.bounce_vel = 0.1;
>     contact[i].surface.soft_cfm = 0.01;
>   }
>   if (int numc = dCollide(o1, o2, MAX_CONTACTS, &contact[0].geom,
> sizeof(dContact)))
>   {
>     for (int i = 0; i < numc; i++)
>     {
>       dJointID c = dJointCreateContact(Simulacion::mundo,
> Simulacion::contactos, contact + i);
>       dJointAttach(c, b1, b2);
>     }
>   }
> }
>
>         When I check o1 or o2 against the dGeomID for the plane I get
> positive
> answers (there are collisions). But ODE is not doing a thing about it.
>
> If you can help me, I will really happy :)
>
> Thanks guys (and girls)
>
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