[ODE] Brakes and rotational damping
matt at ev-interactive.com
Tue Feb 7 13:55:45 MST 2006
What is a good scheme for applying brakes or other damping to a rotating
body? Weve tried a few things but would love some recommendations:
- Velocity-Based Damping: Grab the angular velocity, reduce it, and put it
back. This is easy, avoids backlash, but probably isnt kosher and I
imagine may result in non-physical behavior in ODE. However, this is sort
of how brakes behave they simply reduce any existing rotational velocity.
- Add counter-torque: Apply a torque opposing the current angle of
rotation. This works, but has the backlash problem where applying too
much torque will cause the body to reverse its spin. We check for backlash
and lock the body if it switches direction
but this feels a little like a
- Add a contact friction joint: This seems to be the most realistic model,
but probably overkill. Since, I believe, ODE simply adds little forces for
contact joints, it may have a backlash effect also.
Any recommendations or best practices here?
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